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MX1508.cpp文件
- #include "MX1508.h"
- MX1508::MX1508( uint8_t pinIN1, uint8_t pinIN2) {
- _pinIN1 = pinIN1; // always a PWM pin
- _pinIN2 = pinIN2; // can be a non-Pwm pin.
- _whichMode = FAST_DECAY;
- _numPwmPins = PWM_2PIN;
- pinMode(_pinIN1, OUTPUT);
- pinMode(_pinIN2, OUTPUT);
- }
- MX1508::MX1508( uint8_t pinIN1, uint8_t pinIN2, DecayMode decayMode, NumOfPwmPins numPins) {
- _pinIN1 = pinIN1; // always a PWM pin
- _pinIN2 = pinIN2; // can be a non-Pwm pin.
- _whichMode = decayMode;
- _numPwmPins = numPins;
- pinMode(_pinIN1, OUTPUT);
- pinMode(_pinIN2, OUTPUT);
- }
- int MX1508::getPWM() {
- return _pwmVal;
- }
- void MX1508::stopMotor() {
- digitalWrite(_pinIN1, LOW);
- digitalWrite(_pinIN2, LOW);
- }
- void MX1508::setResolution(unsigned int pwmResolution) {
- _pwmResolution = pwmResolution;
- if(_useAnalogWrite16) ICR1 = pwmResolution;
- }
- void MX1508::setPWM16(uint8_t prescaler, unsigned int resolution){
- if(prescaler > 5 || prescaler == 0) prescaler = 3; // default to 64 if not in range.
- DDRB |= _BV(PB1) | _BV(PB2); /* set pin 9and 10 as outputs */
- TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
- TCCR1B = _BV(WGM13) | _BV(WGM12) | prescaler ; // rescaler must be 1->5, 1,8,64,256,1028 respectively
- ICR1 = resolution;
- _pwmResolution = resolution;
- _useAnalogWrite16 = true;
- }
- void MX1508::analogWrite16(uint8_t pin, uint16_t val)
- {
- if(_useAnalogWrite16){
- if(val < 5) val =5;
- switch (pin) {
- case 9: OCR1A = val; break;
- case 10: OCR1B = val; break;
- default: analogWrite(pin,val);
- }
- }else{
- analogWrite(pin, val);
- }
- }
- void MX1508::motorGo(long pwmSpeed) {
- _pwmVal = pwmSpeed;
-
- // if set decay mode is set as fast decay mode
- if (this->_whichMode == FAST_DECAY) {
- if (pwmSpeed >= 0) { //forward fast decay
- if(_numPwmPins == PWM_1PIN)digitalWrite(_pinIN2, LOW);
- else analogWrite16(_pinIN2, 1);
- analogWrite16(_pinIN1, pwmSpeed);
- } else if (this->_numPwmPins == PWM_2PIN) { // reverse fast decay
- pwmSpeed *= -1;
- analogWrite16(_pinIN1, 1);
- analogWrite16(_pinIN2, pwmSpeed);
- } else if (this->_numPwmPins == PWM_1PIN) { // reverse slow decay
- pwmSpeed *= -1;
- pwmSpeed = map(pwmSpeed, 0, _pwmResolution, _pwmResolution, 0);
- digitalWrite(_pinIN2, HIGH);
- analogWrite16(_pinIN1, pwmSpeed);
- }
- }
- // if decay mode is set as slow decay mode
- else {
- if (pwmSpeed >= 0) { // forward slow decay
- pwmSpeed = map(pwmSpeed, 0, _pwmResolution, _pwmResolution, 0);
- if(_numPwmPins == PWM_1PIN)digitalWrite(_pinIN1, HIGH);
- else analogWrite16(_pinIN1, _pwmResolution);
- analogWrite16(_pinIN2, pwmSpeed);
- } else if (this->_numPwmPins == PWM_2PIN) { // reverse slow decay
- pwmSpeed *= -1;
- pwmSpeed = map(pwmSpeed, 0, _pwmResolution, _pwmResolution, 0);
- analogWrite16(_pinIN2, _pwmResolution);
- analogWrite16(_pinIN1, pwmSpeed);
- } else if (this->_numPwmPins == PWM_1PIN) { // reverse fast decay
- pwmSpeed *= -1;
- digitalWrite(_pinIN1, LOW);
- analogWrite16(_pinIN2, pwmSpeed);
- }
- }
- }
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