Programin Boyz
Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select)
Fork of
Motor
by 
Simon Ford
Motor.h@1:e341f695742a, 2010-07-10 (annotated)
- Committer:
- simon
- Date:
- Sat Jul 10 07:46:17 2010 +0000
- Revision:
- 1:e341f695742a
- Parent:
- 0:a470311addc4
- Child:
- 2:f265e441bcd9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| simon | 0:a470311addc4 | 1 | /* mbed simple H-bridge motor controller |
| simon | 0:a470311addc4 | 2 | * Copyright (c) 2007-2010, sford |
| simon | 0:a470311addc4 | 3 | * |
| simon | 0:a470311addc4 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| simon | 0:a470311addc4 | 5 | * of this software and associated documentation files (the "Software"), to deal |
| simon | 0:a470311addc4 | 6 | * in the Software without restriction, including without limitation the rights |
| simon | 0:a470311addc4 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| simon | 0:a470311addc4 | 8 | * copies of the Software, and to permit persons to whom the Software is |
| simon | 0:a470311addc4 | 9 | * furnished to do so, subject to the following conditions: |
| simon | 0:a470311addc4 | 10 | * |
| simon | 0:a470311addc4 | 11 | * The above copyright notice and this permission notice shall be included in |
| simon | 0:a470311addc4 | 12 | * all copies or substantial portions of the Software. |
| simon | 0:a470311addc4 | 13 | * |
| simon | 0:a470311addc4 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| simon | 0:a470311addc4 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| simon | 0:a470311addc4 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| simon | 0:a470311addc4 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| simon | 0:a470311addc4 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| simon | 0:a470311addc4 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| simon | 0:a470311addc4 | 20 | * THE SOFTWARE. |
| simon | 0:a470311addc4 | 21 | */ |
| simon | 0:a470311addc4 | 22 | |
| simon | 0:a470311addc4 | 23 | #ifndef MBED_MOTOR_H |
| simon | 0:a470311addc4 | 24 | #define MBED_MOTOR_H |
| simon | 0:a470311addc4 | 25 | |
| simon | 0:a470311addc4 | 26 | #include "mbed.h" |
| simon | 0:a470311addc4 | 27 | |
| simon | 1:e341f695742a | 28 | /** Interface to control a standard DC motor |
| simon | 1:e341f695742a | 29 | * with an H-bridge using a PwmOut and 2 DigitalOuts |
| simon | 1:e341f695742a | 30 | */ |
| simon | 0:a470311addc4 | 31 | class Motor { |
| simon | 0:a470311addc4 | 32 | public: |
| simon | 1:e341f695742a | 33 | |
| simon | 1:e341f695742a | 34 | /** Create a motor control interface |
| simon | 1:e341f695742a | 35 | * |
| simon | 1:e341f695742a | 36 | * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed |
| simon | 1:e341f695742a | 37 | * @param fwd A DigitalOut, set high when the motor should go forward |
| simon | 1:e341f695742a | 38 | * @param rev A DigitalOut, set high when the motor should go backwards |
| simon | 1:e341f695742a | 39 | */ |
| simon | 0:a470311addc4 | 40 | Motor(PinName pwm, PinName fwd, PinName rev); |
| simon | 1:e341f695742a | 41 | |
| simon | 1:e341f695742a | 42 | /** Set the speed of the motor |
| simon | 1:e341f695742a | 43 | * |
| simon | 1:e341f695742a | 44 | * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 |
| simon | 1:e341f695742a | 45 | */ |
| simon | 1:e341f695742a | 46 | void speed(float speed); |
| simon | 0:a470311addc4 | 47 | |
| simon | 0:a470311addc4 | 48 | protected: |
| simon | 0:a470311addc4 | 49 | PwmOut _pwm; |
| simon | 0:a470311addc4 | 50 | DigitalOut _fwd; |
| simon | 0:a470311addc4 | 51 | DigitalOut _rev; |
| simon | 0:a470311addc4 | 52 | |
| simon | 0:a470311addc4 | 53 | }; |
| simon | 0:a470311addc4 | 54 | |
| simon | 0:a470311addc4 | 55 | #endif |