NagaokaRoboticsClub_mbedTeam / vnh5019

VNH5019 motor driver library

vnh5019.cpp@0:666c49565378, 2022-02-03 (annotated)

Committer:
LVRhase01
Date:
Thu Feb 03 08:30:44 2022 +0000
Revision:
0:666c49565378
first create vnh5019 library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LVRhase01 0:666c49565378 1 #include "vnh5019.h"
LVRhase01 0:666c49565378 2 #include "mbed.h"
LVRhase01 0:666c49565378 3
LVRhase01 0:666c49565378 4 VNH5019::VNH5019(PinName _dirH,PinName _dirL,PinName _pwm):
LVRhase01 0:666c49565378 5 dirH(_dirH),dirL(_dirL), pwm(_pwm) {
LVRhase01 0:666c49565378 6 started = false;
LVRhase01 0:666c49565378 7 pwm.period(1/20000.0);
LVRhase01 0:666c49565378 8 dirL = 0;
LVRhase01 0:666c49565378 9 dirH = 0;
LVRhase01 0:666c49565378 10 pwm=0;
LVRhase01 0:666c49565378 11 braking=false;
LVRhase01 0:666c49565378 12 }
LVRhase01 0:666c49565378 13
LVRhase01 0:666c49565378 14 int VNH5019::setFreq(float freq)
LVRhase01 0:666c49565378 15 {
LVRhase01 0:666c49565378 16 if(freq <= 0)
LVRhase01 0:666c49565378 17 return 1;
LVRhase01 0:666c49565378 18 pwm.period(1/freq);
LVRhase01 0:666c49565378 19 return 0;
LVRhase01 0:666c49565378 20 }
LVRhase01 0:666c49565378 21
LVRhase01 0:666c49565378 22 int VNH5019::setMotorSpeed(float speed)
LVRhase01 0:666c49565378 23 {
LVRhase01 0:666c49565378 24 started = true;
LVRhase01 0:666c49565378 25 if(speed >=1.0)
LVRhase01 0:666c49565378 26 speed = 1.0;
LVRhase01 0:666c49565378 27 if(speed <= -1.0)
LVRhase01 0:666c49565378 28 speed = -1.0;
LVRhase01 0:666c49565378 29 if(fabs(speed) > 0.02){
LVRhase01 0:666c49565378 30 if(speed > 0){
LVRhase01 0:666c49565378 31 dirH = 0;
LVRhase01 0:666c49565378 32 dirL = 1;
LVRhase01 0:666c49565378 33 }else{
LVRhase01 0:666c49565378 34 dirH = 1;
LVRhase01 0:666c49565378 35 dirL = 0;
LVRhase01 0:666c49565378 36 }
LVRhase01 0:666c49565378 37 pwm = fabs(speed);
LVRhase01 0:666c49565378 38 }else{
LVRhase01 0:666c49565378 39 dirH = 0;
LVRhase01 0:666c49565378 40 dirL = 0;
LVRhase01 0:666c49565378 41 pwm = 0;
LVRhase01 0:666c49565378 42 }
LVRhase01 0:666c49565378 43 return 0;
LVRhase01 0:666c49565378 44 }