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willem oldemans
2020-10-01 09:35:26 +02:00
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Copyright (c) 2020 Willumpie82
MIT License
Permission is hereby granted, free of charge, to any person obtaining
a copy of this software and associated documentation files (the
"Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to
permit persons to whom the Software is furnished to do so, subject to
the following conditions:
The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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/*
MC34933.h - Library for the Toshiba MC34933 motor driver.
Created by TheDIYGuy999 June - November 2016
Released into the public domain.
This is Version 1.2
The pin configuration was moved to the separate begin() function.
Change your existing programs in accordance with the provided example
*/
#include "Arduino.h"
#include "MC34933.h"
// Member definition (code) ========================================================================
MC34933::MC34933()
{ // Constructor
_state = 0;
_previousMillis = 0;
}
// Begin function ************************************************************
// NOTE: The first pin must always be PWM capable, the second only, if the last parameter is set to "true"
// SYNTAX: IN1, IN2, min. input value, max. input value, neutral position width
// invert rotation direction, true = both pins are PWM capable
void MC34933::begin(int pin1, int pin2, int minInput, int maxInput, int neutralWidth, bool invert) {
_pin1 = pin1;
_pin2 = pin2;
_minInput = minInput;
_maxInput = maxInput;
_minNeutral = (_maxInput + _minInput) / 2 - (neutralWidth / 2);
_maxNeutral = (_maxInput + _minInput) / 2 + (neutralWidth / 2);
_controlValueRamp = (_minNeutral + _maxNeutral) / 2;
_invert = invert;
pinMode(_pin1, OUTPUT);
pinMode(_pin2, OUTPUT);
digitalWrite(_pin1, LOW);
digitalWrite(_pin2, LOW);
}
// Drive function ************************************************************
// SYNTAX: Input value, max PWM, ramptime in ms per 1 PWM increment
// true = brake active, false = brake in neutral position inactive
bool MC34933::drive(int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake) {
_controlValue = controlValue;
_minPWM = minPWM;
_maxPWM = maxPWM;
_rampTime = rampTime;
_neutralBrake = neutralBrake;
if (_invert) {
_controlValue = map (_controlValue, _minInput, _maxInput, _maxInput, _minInput); // invert driving direction
}
// Fader (allows to ramp the motor speed slowly up & down) --------------------
if (_rampTime >= 1) {
unsigned long _currentMillis = millis();
if (_currentMillis - _previousMillis >= (unsigned int)_rampTime) {
// Increase
if (_controlValue > _controlValueRamp && _controlValueRamp < _maxInput) {
_controlValueRamp++;
_upwards = true;
_downwards = false;
}
// Decrease
else if (_controlValue < _controlValueRamp && _controlValueRamp > _minInput) {
_controlValueRamp--;
_upwards = false;
_downwards = true;
}
else {
_upwards = false;
_downwards = false;
}
_previousMillis = _currentMillis;
}
}
else {
_controlValueRamp = _controlValue;
_upwards = false;
_downwards = false;
}
// H bridge controller -------------------
if (_controlValueRamp >= _maxNeutral) { // Forward
digitalWrite(_pin1, HIGH);
//digitalWrite(_pin2, LOW);
analogWrite(_pin2, map(_controlValueRamp, _maxNeutral, _maxInput, _minPWM, _maxPWM));
_forward = true;
_reverse = false;
return true;
}
else if (_controlValueRamp <= _minNeutral) { // Reverse
digitalWrite(_pin1, LOW);
//digitalWrite(_pin2, HIGH);
analogWrite(_pin2, map(_controlValueRamp, _minNeutral, _minInput, _minPWM, _maxPWM));
_forward = false;
_reverse = true;
return true;
}
else { // Neutral
if (_neutralBrake) {
digitalWrite(_pin1, LOW); // Brake in neutral position active
digitalWrite(_pin2, LOW);
}
else {
digitalWrite(_pin1, HIGH); // Brake in neutral position inactive
digitalWrite(_pin2, HIGH);
}
_forward = false;
_reverse = false;
return false;
}
}
// Brakelight detection function ************************************************************
bool MC34933::brakeActive() {
unsigned long _currentMillisBrake = millis();
// Reset delay timer, if vehicle isn't decelerating
if ( (!(_upwards && _reverse)) && (!(_downwards && _forward)) ) {
_previousMillisBrake = _currentMillisBrake;
}
if (_currentMillisBrake - _previousMillisBrake >= 100) {
return true;
}
else {
return false;
}
}

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/*
MC34933.h - Library for the Toshiba MC34933 motor driver.
Created by TheDIYGuy999 June - November 2016
Released into the public domain.
This is Version 1.2
Change history:
V1.1:
The pin configuration was moved to the separate begin() function.
Change your existing programs in accordance with the provided example
V1.2:
minPWM input variable added to the drive() function.
Allows to eliminate the backlash in self balancing applications
*/
#ifndef MC34933H
#define MC34933H
#include "Arduino.h"
// Class definition (header) ========================================================================
class MC34933 {
public:
MC34933();
void begin(int pin1, int pin2, int minInput, int maxInput, int neutralWidth, bool invert);
bool drive(int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake);
bool brakeActive();
private:
int _pin1;
int _pin2;
int _pwmPin;
int _minInput;
int _maxInput;
int _minNeutral;
int _maxNeutral;
int _controlValue;
int _controlValueRamp;
int _minPWM;
int _maxPWM;
int _rampTime;
bool _neutralBrake;
bool _invert;
unsigned long _previousMillis = 0;
unsigned long _previousMillisBrake = 0;
byte _state = 0;
byte _forward;
byte _reverse;
byte _upwards;
byte _downwards;
};
#endif //MC34933H

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// This example was cuccessfully tested on an Sparkfun Pro Micro in 8MHz version
// It also works on a Pro Mini, but only, if you don't change the PWM frequency
// Version 1.2
//
// =======================================================================================================
// INCLUDE LIRBARIES
// =======================================================================================================
//
#include <MC34933.h> // https://github.com/TheDIYGuy999/MC34933
// Optional for motor PWM frequency adjustment:
//#include <PWMFrequency.h> // https://github.com/kiwisincebirth/Arduino/tree/master/libraries/PWMFrequency
//
// =======================================================================================================
// CREATE MOTOR OBJECTS
// =======================================================================================================
//
// define motor pin numbers
#define motor1_in1 2
#define motor1_in2 4
#define motor2_in1 7
#define motor2_in2 8
// Create motor objects
MC34933 Motor1; // Motor 1
MC34933 Motor2; // Motor 2
//
// =======================================================================================================
// LIGHTS
// =======================================================================================================
//
void lights() {
if (Motor1.brakeActive()) { // if braking detected from MC34933 motor driver
//digitalWrite(BRAKELIGHTS, HIGH);
}
else {
//digitalWrite(BRAKELIGHTS, LOW);
}
}
//
// =======================================================================================================
// MAIN ARDUINO SETUP (1x during startup)
// =======================================================================================================
//
void setup() {
// Motor pin setup
// SYNTAX: IN1, IN2, PWM, min. input value, max. input value, neutral position width
// invert rotation direction true or false
Motor1.begin(motor1_in1, motor1_in2, 0, 1023, 60, false); // Motor 1
Motor2.begin(motor2_in1, motor2_in2, 0, 1023, 60, false); // Motor 2
// Optional: Motor PWM frequency (Requires the PWMFrequency.h library)
/*setPWMPrescaler(motor1_pwm, 1); // 123Hz = 256, 492Hz = 64, 3936Hz = 8, 31488Hz = 1
setPWMPrescaler(motor2_pwm, 1);*/
}
//
// =======================================================================================================
// DRIVE MOTOR
// =======================================================================================================
//
void driveMotor() {
int speed1 = 512;
int speed2 = 512;
// Read Potentiometer
speed1 = analogRead(A0); // 0 - 1023
speed2 = analogRead(A1); // 0 - 1023
// ***************** Note! The ramptime is intended to protect the gearbox! *******************
// SYNTAX: Input value, min PWM, max PWM, ramptime in ms per 1 PWM increment
// false = brake in neutral position inactive
if (Motor1.drive(speed1, 0, 255, 7, false) ) { // Motor 1
// returns true, if motor is running, so we can do other stuff here!
}
Motor2.drive(speed2, 0, 255, 1, false); // Motor 2
}
//
// =======================================================================================================
// MAIN LOOP
// =======================================================================================================
//
void loop() {
// Drive the main motor
driveMotor();
//Light control
lights();
}

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# MC34933 modification
This lib is forked from: https://github.com/TheDIYGuy999/TB6612FNG.git
- EXPERIMENTAL!
- Modifed code to support MC34933 (will make a nice switch when I have time)
- Removed dedicated PWM pin (this controller an PWM the input pins)
# Advanced Arduino H-Bridge control library
This is an Arduino library for the Toshiba MC34933 DC motor driver
## Features:
- Adjustable fader for smooth speed changes
- brake active or not in neutral mode
- selectable input signal range (e.g. 0 - 100, 0 - 1023, -255 - 255 etc.)
- selectable neutral position width. This allows you to optimize it for your joystick
- the motor rotation direction is reversible in software, so you don't have to switch your motor wires, if the direction is reversed
- The end-speed is adjustable during runtime. This allows you to simulate different gear ratios
- drive function returns true while driving or false while in neutral
- brakeActive function returns true, while the vehicle is getting slower. Used to control brake lights
- Backlash compensation for self balancing applications
New in V 1.1:
- Pin configuration moved to begin() function. This change was necessary due to new requirements in my new "Micro RC Receiver" V1.7 software revision
- If you've used the previous version in a project, you will have to change the pin configuration in accordance with the provided example. The archived V1.0 is enclosed and will not be maintained anymore.
New in V1.2:
- minPWM input variable added to the drive() function. Allows to eliminate the backlash in self balancing applications
- IMPORTANT!! You have to add this new input variable to your existing sketches! Ohtherwise it will not compile.
## Usage
TODO
(c) 2020 - Willumpie82

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#######################################
# Syntax Coloring Map For MC34933
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
MC34933 KEYWORD
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
drive KEYWORD2
brakeActive KEYWORD2