initial commit

LICENSE.txt

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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.

MC34933.cpp

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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;
+    }
+}
+

MC34933.h

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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

MC34933/MC34933.ino

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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();
+}

README.md

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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

keywords.txt

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