www.gusucode.com > Arduino_Engineering_Kit_Hardware_Support_18b 工具箱matlab源码程序 > Arduino_Engineering_Kit_Hardware_Support_18b/matlab/MATLABAddon/+arduinoioaddons/+arduino/MKRDCMotor.m
classdef MKRDCMotor < arduinoio.MotorBase & matlab.mixin.CustomDisplay
%MKRDCMotor Create a MKR DC motor device object.
% Copyright 2018 The MathWorks, Inc.
properties
DutyCycle = 0
end
properties(Hidden)
PWMFrequency = 100
end
properties (Dependent = true, Access = private)
ConvertedDutyCycle
end
properties (SetAccess = private)
IsRunning = false;
end
properties(Access = private)
ResourceOwner = 'MKRMotorCarrier\DCMotor';
MinPWMFrequency = 100
MaxPWMFrequency = 10000
end
properties(Access = private, Constant = true)
% MATLAB defined command IDs
CREATE_DC_MOTOR = hex2dec('02')
START_DC_MOTOR = hex2dec('03')
STOP_DC_MOTOR = hex2dec('04')
SET_DUTYCYCLE_DC_MOTOR = hex2dec('05')
SET_DCM_VELOCITY = hex2dec('13')
SET_DCM_POSITION = hex2dec('14')
end
properties(Access = private, Constant = true)
ROTATE_FORWARD = 1
ROTATE_BACKWARD = 2
end
properties(Access = private, Constant = true)
MaxDCMotors = 4
ResourceMode = 'MKRMotorCarrier\DCMotor';
end
%% Constructor
methods(Hidden, Access = public)
function obj = MKRDCMotor(parentObj, motorNumber, varargin)
obj.Pins = [];
obj.Parent = parentObj;
arduinoObj = parentObj.Parent;
try
if (nargin < 2)
obj.localizedError('MATLAB:minrhs');
end
catch e
throwAsCaller(e);
end
motorNumber = arduinoio.internal.validateIntParameterRanged(...
[obj.ResourceOwner 'MotorNumber'], ...
motorNumber, ...
1, ...
obj.MaxDCMotors);
try
dcmotors = getSharedResourceProperty(arduinoObj, obj.ResourceOwner, 'dcmotors');
catch
locDC = 1; %#ok<NASGU>
dcmotors = [parentObj.I2CAddress zeros(1, obj.MaxDCMotors)];
end
carrierDCAddresses = dcmotors(:, 1);
[~, locDC] = ismember(parentObj.I2CAddress, carrierDCAddresses);
if locDC == 0
dcmotors = [dcmotors; parentObj.I2CAddress zeros(1, obj.MaxDCMotors)];
locDC = size(dcmotors, 1);
end
% Check for resource conflict with DC Motors
if dcmotors(locDC, motorNumber+1)
error('Arduino:MKRMotorCarrier:conflictDCMotorMKR', 'ArduinoMKRMotorCarrier\\\\DCMotor ''M%d'' is already in use', motorNumber);
end
dcmotors(locDC, motorNumber+1) = 1;
setSharedResourceProperty(arduinoObj, obj.ResourceOwner, 'dcmotors', dcmotors);
obj.MotorNumber = motorNumber;
try
p = inputParser;
addParameter(p, 'DutyCycle', 0);
addParameter(p, 'PWMFrequency', 100);
parse(p, varargin{:});
catch
obj.localizedError('MATLAB:arduinoio:general:invalidNVPropertyName',...
obj.ResourceOwner, ...
arduinoio.internal.renderCellArrayOfCharVectorsToCharVector(p.Parameters, ', '));
end
obj.DutyCycle = p.Results.DutyCycle;
obj.PWMFrequency = p.Results.PWMFrequency;
obj.PWMFrequency = arduinoio.internal.validateDoubleParameterRanged(...
'ArduinoMKRMotorCarrier\DCMotor PWMFrequency', obj.PWMFrequency, 100, 10000);
createDCMotor(obj);
end
end
%%
methods
function start(obj)
% Start the DC motor.
%
% Syntax:
% start(dev)
%
% Description:
% Start the DC motor so that it can rotate if DutyCycle is non-zero
%
% Example:
% a = arduino('COM7', 'Uno', 'Libraries', 'Arduino/MKRMotorCarrier');
% mcObj = addon(a, 'Arduino/MKRMotorCarrier');
% dcm = dcmotor(mcObj,1,'DutyCycle',0.3);
% start(dcm);
%
% Input Arguments:
% dcm - DC motor device
%
% See also stop
try
if obj.IsRunning == false
if obj.DutyCycle ~= 0
startDCMotor(obj);
end
obj.IsRunning = true;
else
obj.localizedWarning('MATLAB:arduinoio:general:dcmotorAlreadyRunning', num2str(obj.MotorNumber));
end
catch e
throwAsCaller(e);
end
end
function stop(obj)
% Stop the DC motor.
%
% Syntax:
% stop(dev)
%
% Description:
% Stop the DC motor if it has been started
%
% Example:
% a = arduino('COM7', 'Uno', 'Libraries', 'Arduino/MKRMotorCarrier');
% mcObj = addon(a, 'Arduino/MKRMotorCarrier');
% dcm = dcmotor(mcObj,1,'DutyCycle',0.3);
% start(dcm);
% stop(dcm);
%
% Input Arguments:
% dcm - DC motor device
%
% See also start
try
if obj.IsRunning == true
stopDCMotor(obj);
obj.IsRunning = false;
end
catch e
throwAsCaller(e);
end
end
function set.DutyCycle(obj, DutyCycle)
% Valid DutyCycle range is -1 to 1
try
if (nargin < 2)
obj.localizedError('MATLAB:minrhs');
end
DutyCycle = arduinoio.internal.validateDoubleParameterRanged(...
'ArduinoMKRMotorCarrier\DCMotor DutyCycle', DutyCycle, -1, 1);
if DutyCycle == -0
DutyCycle = 0;
end
if obj.IsRunning == true %#ok<MCSUP>
convertedDutyCycle = round(DutyCycle*100);
setDutyCycleDCMotor(obj, convertedDutyCycle);
end
obj.DutyCycle = DutyCycle;
catch e
throwAsCaller(e);
end
end
function setPosition(obj, position)
try
if (obj.MotorNumber > 2)
error('Arduino:MKRMotorCarrier:InvalidPIDMotor', 'Invalid motor ''M%d'' for PID control. Valid motors are M1 and M2', obj.MotorNumber);
end
if(obj.Parent.EncoderExists(obj.MotorNumber))
if (nargin < 2)
obj.localizedError('MATLAB:minrhs');
end
position = arduinoio.internal.validateIntParameterRanged(...
'ArduinoMKRMotorCarrier\DCMotor Position', position, -2^15,2^15-1);
if obj.IsRunning == true
if obj.DutyCycle ~= 0
obj.DutyCycle = 0;
sWarningBacktrace = warning('off', 'backtrace');
warning('Arduino:MKRMotorCarrier:DutyCycleUpdated', 'ArduinoMKRMotorCarrier\\\\ ''M%d'' DutyCycle set to 0', obj.MotorNumber);
warning(sWarningBacktrace.state, 'backtrace');
end
setPositionDCMotor(obj, position);
end
else
error('Arduino:MKRMotorCarrier:EncoderObjectAbsent', 'Create ArduinoMKRMotorCarrier\\\\ ''Encoder%d'' object to run DCMotor ''M%d'' in PID control mode', obj.MotorNumber, obj.MotorNumber);
end
catch e
throwAsCaller(e);
end
end
function setSpeed(obj, speed)
try
if (obj.MotorNumber > 2)
error('Arduino:MKRMotorCarrier:InvalidPIDMotor', 'Invalid motor ''M%d'' for PID control. Valid motors are M1 and M2', obj.MotorNumber);
end
if(obj.Parent.EncoderExists(obj.MotorNumber))
if (nargin < 2)
obj.localizedError('MATLAB:minrhs');
end
speed = arduinoio.internal.validateIntParameterRanged(...
'ArduinoMKRMotorCarrier\DCMotor Velocity', speed, -250,250); % raw values supported only between -50 - 50
speed = (speed * 1200)/(100 * 60); % convert RPM to counts per centisecond. 1200 is the pulse per rev of the encoder shaft
if obj.IsRunning == true
if obj.DutyCycle ~= 0
obj.DutyCycle = 0;
sWarningBacktrace = warning('off', 'backtrace');
warning('Arduino:MKRMotorCarrier:DutyCycleUpdated', 'ArduinoMKRMotorCarrier\\\\ ''M%d'' DutyCycle set to 0', obj.MotorNumber);
warning(sWarningBacktrace.state, 'backtrace');
end
setSpeedDCMotor(obj,speed);
end
else
error('Arduino:MKRMotorCarrier:EncoderObjectAbsent', 'Create ArduinoMKRMotorCarrier\\\\ ''Encoder%d'' object to run DCMotor ''M%d'' in PID control mode', obj.MotorNumber, obj.MotorNumber);
end
catch e
throwAsCaller(e);
end
end
function out = get.ConvertedDutyCycle(obj)
% Convert DutyCycle from range [-1, 1] to [-100 100] as required by motorCarrier
out = round(obj.DutyCycle * 100);
end
end
%% Destructor
methods (Access=protected)
function delete(obj)
originalState = warning('off','MATLAB:class:DestructorError');
try
parentObj = obj.Parent;
arduinoObj = parentObj.Parent;
% Clear the DC Motor
if ~isempty(obj.MotorNumber)
stopDCMotor(obj);
end
dcmotors = getSharedResourceProperty(arduinoObj, obj.ResourceOwner, 'dcmotors');
carrierDCAddresses = dcmotors(:, 1);
[~, locDC] = ismember(parentObj.I2CAddress, carrierDCAddresses);
dcmotors(locDC, obj.MotorNumber+1) = 0;
setSharedResourceProperty(arduinoObj, obj.ResourceOwner, 'dcmotors', dcmotors);
catch
% Do not throw errors on destroy.
% This may result from an incomplete construction.
end
warning(originalState.state, 'MATLAB:class:DestructorError');
end
end
%% Private methods
methods (Access = private)
function createDCMotor(obj)
commandID = obj.CREATE_DC_MOTOR;
params = [obj.PWMFrequency];
sendCommand(obj, commandID, params);
end
function startDCMotor(obj)
commandID = obj.START_DC_MOTOR;
dutycycle = (obj.ConvertedDutyCycle);
params = typecast(int16(dutycycle),'uint8');
sendCommand(obj, commandID, params');
end
function stopDCMotor(obj)
commandID = obj.STOP_DC_MOTOR;
params = [];
sendCommand(obj, commandID, params);
end
function setDutyCycleDCMotor(obj, DutyCycle)
commandID = obj.SET_DUTYCYCLE_DC_MOTOR;
params = typecast(int16(DutyCycle),'uint8');
sendCommand(obj, commandID, params');
end
function setSpeedDCMotor(obj, speed)
commandID = obj.SET_DCM_VELOCITY;
params = typecast(int16(speed),'uint8');
sendCommand(obj, commandID, params');
end
function setPositionDCMotor(obj, position)
commandID = obj.SET_DCM_POSITION;
params = typecast(int16(position),'uint8');
sendCommand(obj, commandID, params');
end
end
%% Protected methods
methods(Access = protected)
function output = sendCommand(obj, commandID, params)
params = [obj.MotorNumber - 1; params];
output = sendCarrierCommand(obj.Parent, commandID, params);
end
end
%% Protected methods
methods (Access = protected)
function displayScalarObject(obj)
header = getHeader(obj);
disp(header);
% Display main options
fprintf(' MotorNumber: %d (M%d)\n', obj.MotorNumber, obj.MotorNumber);
fprintf(' DutyCycle: %-15.2f\n', obj.DutyCycle);
fprintf(' IsRunning: %-15d\n', obj.IsRunning);
fprintf('\n');
% Allow for the possibility of a footer.
footer = getFooter(obj);
if ~isempty(footer)
disp(footer);
end
end
end
end