Diff: VNH5019.cpp

Revision:

0:83e00dc8eb92

Child:

1:656efbc86da4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/VNH5019.cpp	Wed May 21 01:22:46 2014 +0000
@@ -0,0 +1,64 @@
+#include "VNH5019.h"
+
+#include "mbed.h"
+#include <stdint.h>
+#include <math.h>
+#include <ctype.h>
+
+//PinSetting
+VNH5019::VNH5019(PinName m1na,PinName m1nb,PinName m1pwm,PinName m2na,PinName m2nb,PinName m2pwm) 
+    : _m1na(m1na),_m1nb(m1nb),_m1pwm(m1pwm),_m2na(m2na),_m2nb(m2nb),_m2pwm(m2pwm){
+    }
+    
+void VNH5019::changeSpeed(uint8_t L_state,uint8_t L_pwm,uint8_t R_state,uint8_t R_pwm){
+    
+        switch(L_state){
+        case 0:
+            _m1na = 0;
+            _m1nb = 0;
+            break;
+        
+        case 1:
+            _m1na = 1;
+            _m1nb = 0;
+            break;        
+        
+        case 2:
+            _m1na = 0;
+            _m1nb = 1;
+           break;
+           
+        default: 
+            _m1na = 0;
+            _m1nb = 0;     
+            break;
+        }
+    
+    _m1pwm = (float)L_pwm/256.0;
+    
+        switch(R_state){
+        case 0:
+            _m2na = 0;
+            _m2nb = 0;
+            break;
+        
+        case 1:
+            _m2na = 1;
+            _m2nb = 0;
+            break;        
+        
+        case 2:
+            _m2na = 0;
+            _m2nb = 1;
+           break;
+           
+        default: 
+            _m2na = 0;
+            _m2nb = 0;     
+            break;
+        }
+    
+    
+    _m2pwm = (float)R_pwm/256.0;
+    
+    }
\ No newline at end of file