Diff: vnh5019.cpp

Revision:

0:666c49565378

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/vnh5019.cpp	Thu Feb 03 08:30:44 2022 +0000
@@ -0,0 +1,44 @@
+#include "vnh5019.h"
+#include "mbed.h"
+
+VNH5019::VNH5019(PinName _dirH,PinName _dirL,PinName _pwm):
+    dirH(_dirH),dirL(_dirL), pwm(_pwm) {
+    started = false;
+    pwm.period(1/20000.0);
+    dirL = 0;
+    dirH = 0;
+    pwm=0;
+    braking=false;
+}
+
+int VNH5019::setFreq(float freq)
+{
+        if(freq <= 0)
+            return 1;
+        pwm.period(1/freq);
+        return 0;
+}
+        
+int VNH5019::setMotorSpeed(float speed)
+{
+    started = true;
+    if(speed >=1.0)
+        speed = 1.0;
+    if(speed <= -1.0)
+        speed = -1.0;
+    if(fabs(speed) > 0.02){
+        if(speed > 0){
+            dirH = 0;
+            dirL = 1;
+        }else{
+            dirH = 1;
+            dirL = 0;
+        }
+        pwm = fabs(speed);
+    }else{
+        dirH = 0;
+        dirL = 0;
+        pwm = 0;
+    }
+    return 0;
+}
\ No newline at end of file