CanSat2015aizu / VNH5019

for sophomore

Fork of VNH5019 by aigamozu

VNH5019.cpp@0:83e00dc8eb92, 2014-05-21 (annotated)

Committer:
m5171135
Date:
Wed May 21 01:22:46 2014 +0000
Revision:
0:83e00dc8eb92
Child:
1:656efbc86da4
add VNH5019.lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m5171135 0:83e00dc8eb92 1 #include "VNH5019.h"
m5171135 0:83e00dc8eb92 2
m5171135 0:83e00dc8eb92 3 #include "mbed.h"
m5171135 0:83e00dc8eb92 4 #include <stdint.h>
m5171135 0:83e00dc8eb92 5 #include <math.h>
m5171135 0:83e00dc8eb92 6 #include <ctype.h>
m5171135 0:83e00dc8eb92 7
m5171135 0:83e00dc8eb92 8 //PinSetting
m5171135 0:83e00dc8eb92 9 VNH5019::VNH5019(PinName m1na,PinName m1nb,PinName m1pwm,PinName m2na,PinName m2nb,PinName m2pwm)
m5171135 0:83e00dc8eb92 10 : _m1na(m1na),_m1nb(m1nb),_m1pwm(m1pwm),_m2na(m2na),_m2nb(m2nb),_m2pwm(m2pwm){
m5171135 0:83e00dc8eb92 11 }
m5171135 0:83e00dc8eb92 12
m5171135 0:83e00dc8eb92 13 void VNH5019::changeSpeed(uint8_t L_state,uint8_t L_pwm,uint8_t R_state,uint8_t R_pwm){
m5171135 0:83e00dc8eb92 14
m5171135 0:83e00dc8eb92 15 switch(L_state){
m5171135 0:83e00dc8eb92 16 case 0:
m5171135 0:83e00dc8eb92 17 _m1na = 0;
m5171135 0:83e00dc8eb92 18 _m1nb = 0;
m5171135 0:83e00dc8eb92 19 break;
m5171135 0:83e00dc8eb92 20
m5171135 0:83e00dc8eb92 21 case 1:
m5171135 0:83e00dc8eb92 22 _m1na = 1;
m5171135 0:83e00dc8eb92 23 _m1nb = 0;
m5171135 0:83e00dc8eb92 24 break;
m5171135 0:83e00dc8eb92 25
m5171135 0:83e00dc8eb92 26 case 2:
m5171135 0:83e00dc8eb92 27 _m1na = 0;
m5171135 0:83e00dc8eb92 28 _m1nb = 1;
m5171135 0:83e00dc8eb92 29 break;
m5171135 0:83e00dc8eb92 30
m5171135 0:83e00dc8eb92 31 default:
m5171135 0:83e00dc8eb92 32 _m1na = 0;
m5171135 0:83e00dc8eb92 33 _m1nb = 0;
m5171135 0:83e00dc8eb92 34 break;
m5171135 0:83e00dc8eb92 35 }
m5171135 0:83e00dc8eb92 36
m5171135 0:83e00dc8eb92 37 _m1pwm = (float)L_pwm/256.0;
m5171135 0:83e00dc8eb92 38
m5171135 0:83e00dc8eb92 39 switch(R_state){
m5171135 0:83e00dc8eb92 40 case 0:
m5171135 0:83e00dc8eb92 41 _m2na = 0;
m5171135 0:83e00dc8eb92 42 _m2nb = 0;
m5171135 0:83e00dc8eb92 43 break;
m5171135 0:83e00dc8eb92 44
m5171135 0:83e00dc8eb92 45 case 1:
m5171135 0:83e00dc8eb92 46 _m2na = 1;
m5171135 0:83e00dc8eb92 47 _m2nb = 0;
m5171135 0:83e00dc8eb92 48 break;
m5171135 0:83e00dc8eb92 49
m5171135 0:83e00dc8eb92 50 case 2:
m5171135 0:83e00dc8eb92 51 _m2na = 0;
m5171135 0:83e00dc8eb92 52 _m2nb = 1;
m5171135 0:83e00dc8eb92 53 break;
m5171135 0:83e00dc8eb92 54
m5171135 0:83e00dc8eb92 55 default:
m5171135 0:83e00dc8eb92 56 _m2na = 0;
m5171135 0:83e00dc8eb92 57 _m2nb = 0;
m5171135 0:83e00dc8eb92 58 break;
m5171135 0:83e00dc8eb92 59 }
m5171135 0:83e00dc8eb92 60
m5171135 0:83e00dc8eb92 61
m5171135 0:83e00dc8eb92 62 _m2pwm = (float)R_pwm/256.0;
m5171135 0:83e00dc8eb92 63
m5171135 0:83e00dc8eb92 64 }