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ddr4s / fw / wiringPi / examples / PiFace / motor.c @ 32:cadb9025f1e0

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/*
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 * motor.c:
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 *        Use the PiFace board to demonstrate an H bridge
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 *        circuit via the 2 relays.
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 *        Then add on an external transsitor to help with PWM.
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 *
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 * Copyright (c) 2012-2013 Gordon Henderson. <projects@drogon.net>
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 ***********************************************************************
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 * This file is part of wiringPi:
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 *        https://projects.drogon.net/raspberry-pi/wiringpi/
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 *
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 *    wiringPi is free software: you can redistribute it and/or modify
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 *    it under the terms of the GNU Lesser General Public License as published by
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 *    the Free Software Foundation, either version 3 of the License, or
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 *    (at your option) any later version.
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 *
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 *    wiringPi is distributed in the hope that it will be useful,
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 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *    GNU Lesser General Public License for more details.
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 *
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 *    You should have received a copy of the GNU Lesser General Public License
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 *    along with wiringPi.  If not, see <http://www.gnu.org/licenses/>.
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 ***********************************************************************
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 */
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#include <wiringPi.h>
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#include <piFace.h>
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#include <softPwm.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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int outputs [2] = { 0,0 } ;
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#define        PIFACE_BASE        200
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#define PWM_OUT_PIN        204
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#define        PWM_UP                202
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#define        PWM_DOWN        203
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void scanButton (int button)
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{
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  if (digitalRead (PIFACE_BASE + button) == LOW)
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  {
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    outputs [button] ^= 1 ;
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    digitalWrite (PIFACE_BASE + button, outputs [button]) ;
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    printf ("Button %d pushed - output now: %s\n",
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                button, (outputs [button] == 0) ? "Off" : "On") ;
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  }
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  while (digitalRead (PIFACE_BASE + button) == LOW)
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    delay (1) ;
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}
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int main (void)
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{
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  int pin, button ;
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  int pwmValue = 0 ;
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  printf ("Raspberry Pi PiFace - Motor control\n") ;
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  printf ("==================================\n") ;
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  printf ("\n") ;
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  printf (
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"This program is designed to be used with a motor connected to the relays\n"
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"in an H-Bridge type configuration with optional speeed control via PWM.\n"
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"\n"
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"Use the leftmost buttons to turn each relay on and off, and the rigthmost\n"
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"buttons to increase ot decrease the PWM output on the control pin (pin\n"
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"4)\n\n") ;
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  wiringPiSetup () ;
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  piFaceSetup (PIFACE_BASE) ;
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  softPwmCreate (PWM_OUT_PIN, 100, 100) ;
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// Enable internal pull-ups & start with all off
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  for (pin = 0 ; pin < 8 ; ++pin)
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  {
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    pullUpDnControl (PIFACE_BASE + pin, PUD_UP) ;
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    digitalWrite    (PIFACE_BASE + pin, 0) ;
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  }
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  for (;;)
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  {
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    for (button = 0 ; button < 2 ; ++button)
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      scanButton (button) ;
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    if (digitalRead (PWM_UP) == LOW)
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    {
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      pwmValue += 10 ;
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      if (pwmValue > 100)
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        pwmValue = 100 ;
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      softPwmWrite (PWM_OUT_PIN, pwmValue) ;
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      printf ("PWM -> %3d\n", pwmValue) ;
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      while (digitalRead (PWM_UP) == LOW)
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        delay (5) ;
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    }
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    if (digitalRead (PWM_DOWN) == LOW)
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    {
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      pwmValue -= 10 ;
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      if (pwmValue < 0)
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        pwmValue = 0 ;
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      softPwmWrite (PWM_OUT_PIN, pwmValue) ;
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      printf ("PWM -> %3d\n", pwmValue) ;
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      while (digitalRead (PWM_DOWN) == LOW)
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        delay (5) ;
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    }
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    delay (5) ;
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  }
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  return 0 ;
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}