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Motor.h
00001 /* mbed simple H-bridge motor controller 00002 * Copyright (c) 2007-2010, sford 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 */ 00022 00023 #ifndef MBED_MOTOR_H 00024 #define MBED_MOTOR_H 00025 00026 #include "mbed.h" 00027 00028 #define BRAKE_HIGH 1 00029 #define BRAKE_LOW 0 00030 00031 /** Interface to control a standard DC motor 00032 * with an H-bridge using a PwmOut and 2 DigitalOuts 00033 */ 00034 class Motor { 00035 public: 00036 00037 /** Create a motor control interface 00038 * 00039 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed 00040 * @param fwd A DigitalOut, set high when the motor should go forward 00041 * @param rev A DigitalOut, set high when the motor should go backwards 00042 */ 00043 Motor(PinName pwm, PinName fwd, PinName rev); 00044 00045 /** Set the speed of the motor 00046 * 00047 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 00048 */ 00049 void speed(float speed); 00050 00051 /** Set the period of the pwm duty cycle. 00052 * 00053 * Wrapper for PwmOut::period() 00054 * 00055 * @param seconds - Pwm duty cycle in seconds. 00056 */ 00057 void period(float period); 00058 00059 /** Brake the H-bridge to GND or VCC. 00060 * 00061 * Defaults to breaking to VCC. 00062 * 00063 * Brake to GND => inA = inB = 0 00064 * Brake to VCC => inA = inB = 1 00065 */ 00066 void brake(int highLow = BRAKE_HIGH); 00067 00068 /** 00069 *Brake lebih baik 00070 **/ 00071 void Forcebrake(); 00072 00073 protected: 00074 PwmOut _pwm; 00075 DigitalOut _fwd; 00076 DigitalOut _rev; 00077 00078 }; 00079 00080 #endif
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