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Diff: VNH5019.cpp
- Revision:
- 0:83e00dc8eb92
- Child:
- 1:656efbc86da4
diff -r 000000000000 -r 83e00dc8eb92 VNH5019.cpp --- /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