motor_driver.hpp

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 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  *  _____.___.                 .___                    .__.__      *
  *  \__  |   | ____   ____   __| _/___________    _____|__|  |     *
  *   /   |   |/ ___\ / ___\ / __ |\_  __ \__  \  /  ___/  |  |     *
  *   \____   / /_/  > /_/  > /_/ | |  | \// __ \_\___ \|  |  |__   *
  *   / ______\___  /\___  /\____ | |__|  (____  /____  >__|____/   *
  *   \/     /_____//_____/      \/            \/     \/            *
  *                         - Yggdrasil -                           *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
  * This software can be used by students and other personal of the *
  * Bern University of Applied Sciences under the terms of the MIT  *
  * license.                                                        *
  * For other persons this software is under the terms of the GNU   *
  * General Public License version 2.                               *
  *                                                                 *
  * Copyright © 2021, Bern University of Applied Sciences.     *
  * All rights reserved.                                            *
  * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
#pragma once
 
#include <cpp/common/attributes.hpp>
#include <cpp/common/types.hpp>
#include <cpp/common/utils.hpp>
 
#include <cstdlib>
#include <cstdio>
 
 
namespace bsp::ygg::prph {
 
    class MotorDriver {
    public:
        MotorDriver() = delete;
 
        enum class Channel : u8 {
            A = 0,      
            B = 1,      
        };
 
        static bool init() {
            TC78Mode = true;    // Set the mode as dual DC motor driver
            core::delay(1);
            TC78Stby = false;   // Enables the motor driver
 
            bsp::TimerBCHA.startPwm();
            bsp::TimerBCHB.startPwm();
            bsp::TimerBCHC.startPwm();
            bsp::TimerBCHD.startPwm();
 
            return true;
        }
 
        static void standby(bool stby) {
            if(stby) {
                TC78Stby = true;                // Set the driver to standby
 
                bsp::TimerBCHA.stopPwm();
                bsp::TimerBCHB.stopPwm();
                bsp::TimerBCHC.stopPwm();
                bsp::TimerBCHD.stopPwm();
            }
            else {
                TC78Stby = false;               // Wake the motor driver
 
                bsp::TimerBCHA.startPwm();
                bsp::TimerBCHB.startPwm();
                bsp::TimerBCHC.startPwm();
                bsp::TimerBCHD.startPwm();
            }
        }
 
 
        static void setSpeed(Channel ch, float speed) {
            bool rotation = speed > 0;          // Get the rotation for the selected channel
            speed = std::abs(speed);            // Get the absolute duty for the selected channel
 
            switch(ch){
            case Channel::A:
                TimerBCHD.setPolarityHigh(rotation);    // Set the rotation fpr channel A
                TimerBCHB.setDutyCycle(speed);          // Set the pwm for channel A
                break;
            case Channel::B:
                TimerBCHA.setPolarityHigh(rotation);    // Set the rotation fpr channel A
                TimerBCHC.setDutyCycle(speed);          // Set the pwm for channel B
                break;
 
            }
        }
 
        static bool getError() {
            return TC78Err;
        }
 
    };
 
}