Diff: PololuHbridge/PololuHBridge.cpp

Revision:

62:d502889e74f1

Child:

74:d281aaef9766

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PololuHbridge/PololuHBridge.cpp	Mon Jun 18 14:45:37 2018 +0000
@@ -0,0 +1,57 @@
+#include "mbed.h"
+#include "PololuHBridge.hpp"
+
+
+PololuHBridge::PololuHBridge(PinName pwm, PinName dir, PinName reset):
+    _pwm(pwm),
+    _direction(dir),
+    _rst(reset)
+{
+    _pwm.period_us(50);
+    run(0.0);
+    //pull Hbridge reset low then high to clear any faults
+    _rst = 0;
+    _rst = 1;
+    _direction = 0;
+}
+
+void PololuHBridge::run(float cmd)
+{
+    _p = _clamp(cmd, -1.0, 1.0);
+
+    //This sets motor direction. Positive should give positve velocity (piston retract)
+    if (_p <= 0.0) {
+        _direction = 1;
+        //the pwm function needs an absolute value
+        _p = abs(_p);
+    } else if (_p > 0.0) {
+        _direction = 0;
+    }
+    _pwm = _p;
+    
+    //pc().printf("Debug (run): %0.2f\n\r", _pwm);
+    return;
+}
+
+void PololuHBridge::reset()
+{
+    _rst = 0;
+    _rst = 1;
+}
+
+void PololuHBridge::stop()
+{
+    //stop the motor output
+    _pwm = 0;
+}
+
+float PololuHBridge::_clamp(float value, float min, float max)
+{
+    if(value < min) {
+        return min;
+    } else if(value > max) {
+        return max;
+    } else {
+        return value;
+    }
+}
\ No newline at end of file