Revision 0:666c49565378, committed 2022-02-03

Comitter:

LVRhase01

Date:

Thu Feb 03 08:30:44 2022 +0000

Commit message:

first create vnh5019 library

Changed in this revision

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/vnh5019.h	Thu Feb 03 08:30:44 2022 +0000
@@ -0,0 +1,33 @@
+#ifndef VNH5019_H
+#define VNH5019_H
+
+#include "mbed.h"
+/**
+* vnh5019 class
+* class to drive vnh5019
+*/
+class VNH5019
+{
+public:
+    /** creates VNH5019 instance
+    *@param _dirH dirH pin
+    *@param _dirL dirL pin
+    *@param _pwm pwm pin
+    */ 
+    VNH5019(PinName _dirH,PinName _dirL,PinName _pwm);
+    /** set drive Mode won't work after setMotorSpeed() is called
+    */ 
+    int setMotorSpeed(float speed);
+    /** set pwm frequency
+    *@param frequency needs to be bigger than 0
+    */
+    int setFreq(float freq);
+    /** set this variable to 1 if you want to brake when the motorSpeed is set to 0
+    */
+    bool  braking;
+private:
+    bool started;
+    DigitalOut dirH,dirL;
+    PwmOut pwm;
+};
+#endif
\ No newline at end of file