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Dependents: risetarm Encoder Taker_KRAI BacaMotor ... more
Diff: Motor.h
- Revision:
- 1:c75b234558af
- Parent:
- 0:f05e09f8f5d9
- Child:
- 3:143494304b66
--- a/Motor.h Thu Sep 02 16:32:57 2010 +0000
+++ b/Motor.h Tue Sep 07 11:21:42 2010 +0000
@@ -25,6 +25,9 @@
#include "mbed.h"
+#define BRAKE_HIGH 1
+#define BRAKE_LOW 0
+
/** Interface to control a standard DC motor
* with an H-bridge using a PwmOut and 2 DigitalOuts
*/
@@ -52,6 +55,15 @@
* @param seconds - Pwm duty cycle in seconds.
*/
void period(float period);
+
+ /** Brake the H-bridge to GND or VCC.
+ *
+ * Defaults to breaking to VCC.
+ *
+ * Brake to GND => inA = inB = 0
+ * Brake to VCC => inA = inB = 1
+ */
+ void brake(int highLow = BRAKE_HIGH);
protected:
PwmOut _pwm;