#include <motor/TB9051FTGMotorCarrier.h>

Detailed Description

Implements support for the Pololu TB9051FTG MotorCarrier (https://www.pololu.com/product/2997)

Public Member Functions
	TB9051FTGMotorCarrier (uint8_t pwm1, uint8_t pwm2, uint8_t en=kPinNotUsed, uint8_t enb=kPinNotUsed, uint8_t ocm=kPinNotUsed, uint8_t diag=kPinNotUsed, uint8_t occ=kPinNotUsed)
	Constructor. More...

float	getCurrent (void) const
	Reads an estimate of the motor current from the motor driver carrier. More...

uint8_t	getDiagnostic (void) const
	Reads the DIAG pin on the motor driver carrier. More...

void	setDeadband (float lower, float upper)
	Sets the dead band range. More...

void	setBrakeMode (bool mode)
	Sets the brake mode for the motor driver carrier. More...

void	setOutput (float percent) const
	Sets the throttle output percentage [-1, 1], which is the percentage of the driver carrier's input voltage. More...

void	setOccResponse (bool automatic) const
	Sets the over-current response. More...

void	enable (void)
	Enable the motor driver carrier's outputs. More...

void	disable (void)
	Disable the motor driver carrier's outputs. More...

Static Public Attributes
static constexpr uint8_t	kPinNotUsed {255}

Constructor & Destructor Documentation

◆ TB9051FTGMotorCarrier()

TB9051FTGMotorCarrier::TB9051FTGMotorCarrier	(	uint8_t	pwm1,
		uint8_t	pwm2,
		uint8_t	en = `kPinNotUsed`,
		uint8_t	enb = `kPinNotUsed`,
		uint8_t	ocm = `kPinNotUsed`,
		uint8_t	diag = `kPinNotUsed`,
		uint8_t	occ = `kPinNotUsed`
	)

inline

Constructor.

Construct a new instance of TB9051FTGMotorCarrier.

Parameters

pwm1	The pin number connected to the PWM1 input on the motor driver carrier
pwm2	The pin number connected to the PWM2 input on the motor driver carrier
en	(Optional) The pin number connected to the EN input on the motor driver carrier. Defaults to kPinNotUsed
enb	(Optional) The pin number connected to the ENB input on the motor driver carrier. Defaults to kPinNotUsed
ocm	(Optional) The pin number connected to the OCM output on the motor driver carrier. Defaults to kPinNotUsed
diag	(Optional) The pin number connected to the DIAG output on the motor driver carrier. Defaults to kPinNotUsed
occ	(Optional) The pin number connected to the OCC input on the motor driver carrier. Defaults to kPinNotUsed

Member Function Documentation

◆ disable()

void TB9051FTGMotorCarrier::disable ( void )

inline

Disable the motor driver carrier's outputs.

◆ enable()

void TB9051FTGMotorCarrier::enable ( void )

inline

Enable the motor driver carrier's outputs.

The motor driver carrier Initially is disabled, so it needs to be manually enabled using this function

◆ getCurrent()

float TB9051FTGMotorCarrier::getCurrent ( void ) const

inline

Reads an estimate of the motor current from the motor driver carrier.

Output is in milliamps (mA). Note: This measurement is a coarse approximation only. Consider using an external sensor for fine current measurements.

Returns: Current measurement in mA

◆ getDiagnostic()

uint8_t TB9051FTGMotorCarrier::getDiagnostic ( void ) const

inline

Reads the DIAG pin on the motor driver carrier.

If there is a fault, or if the motor driver carrier is disabled by the EN or ENB pins, it returns logical low (0). Otherwise, it returns logical high (1)

Returns: 0 if fault or disabled. 1 otherwise.

◆ setBrakeMode()

void TB9051FTGMotorCarrier::setBrakeMode ( bool mode )

inline

Sets the brake mode for the motor driver carrier.

If the carrier is set to brake mode (mode 1), the carrier outputs will be shorted to ground when the motor stops. This acts as a brake. If the carrier is not set to brake mode (0), the carrier outputs will be left floating, so the motor will coast to a stop.

Parameters

mode	Brake mode (true) or non brake mode (false).

◆ setDeadband()

void TB9051FTGMotorCarrier::setDeadband	(	float	lower,
		float	upper
	)

inline

Sets the dead band range.

When the throttle output value is within this range, the motor driver carrier stops the motor according to the current brake mode configuration

Parameters

lower	Lower dead band value (exclusively)
upper	Upper dead band value (exclusively)

◆ setOccResponse()

void TB9051FTGMotorCarrier::setOccResponse ( bool automatic ) const

inline

Sets the over-current response.

If false, the motor driver carrier is disabled when an over-current event happens. The motor driver carrier can be reset by toggling either the EN pin or the ENB pin. If true, the motor driver carrier will re-enable after a short period following an over-current event.

Parameters

automatic over-current response

◆ setOutput()

void TB9051FTGMotorCarrier::setOutput ( float percent ) const

inline

Sets the throttle output percentage [-1, 1], which is the percentage of the driver carrier's input voltage.

When the output percentage is negative, the motor will turn in reverse

Parameters

percent output throttle percentage (-1.0 - 1.0)

Member Data Documentation

◆ kPinNotUsed

constexpr uint8_t TB9051FTGMotorCarrier::kPinNotUsed {255}

staticconstexpr

The documentation for this class was generated from the following file:

motor/TB9051FTGMotorCarrier.h

Detailed Description

Public Member Functions

Static Public Attributes

Constructor & Destructor Documentation

◆ TB9051FTGMotorCarrier()

Member Function Documentation

◆ disable()

◆ enable()

◆ getCurrent()

◆ getDiagnostic()

◆ setBrakeMode()

◆ setDeadband()

◆ setOccResponse()

◆ setOutput()

Member Data Documentation

◆ kPinNotUsed