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Dependencies:   mbed motor

motor.cpp@1:3ca91ad8e927, 2018-12-14 (annotated)

Committer:
martinsimpson
Date:
Fri Dec 14 14:24:52 2018 +0000
Revision:
1:3ca91ad8e927
Parent:
0:51c12cc34baf 
Version Alpha 0.1a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martinsimpson 0:51c12cc34baf 1 #include "motor.h"
martinsimpson 0:51c12cc34baf 2
martinsimpson 1:3ca91ad8e927 3 Motor::Motor(PinName pinName1, PinName pinName2, PinName pinName3, PinName pinName4) : pin1(pinName1), pin2(pinName2), pin3(pinName3), pin4(pinName4)
martinsimpson 0:51c12cc34baf 4 {
martinsimpson 0:51c12cc34baf 5 }
martinsimpson 0:51c12cc34baf 6 void Motor::Fwd(float duty)
martinsimpson 0:51c12cc34baf 7 {
martinsimpson 0:51c12cc34baf 8 this->pin1 = 0.0f;
martinsimpson 0:51c12cc34baf 9 this->pin2 = duty;
martinsimpson 1:3ca91ad8e927 10 this->pin3 = 0.0f;
martinsimpson 1:3ca91ad8e927 11 this->pin4 = duty;
martinsimpson 0:51c12cc34baf 12 }
martinsimpson 0:51c12cc34baf 13 void Motor::Rev(float duty)
martinsimpson 0:51c12cc34baf 14 {
martinsimpson 0:51c12cc34baf 15 this->pin1 = duty;
martinsimpson 0:51c12cc34baf 16 this->pin2 = 0.0f;
martinsimpson 1:3ca91ad8e927 17 this->pin3 = duty;
martinsimpson 1:3ca91ad8e927 18 this->pin4 = 0.0f;
martinsimpson 0:51c12cc34baf 19 }
martinsimpson 1:3ca91ad8e927 20 void Motor::Stop(void)
martinsimpson 1:3ca91ad8e927 21 {
martinsimpson 1:3ca91ad8e927 22 this->pin1 = 0.0f;
martinsimpson 1:3ca91ad8e927 23 this->pin2 = 0.0f;
martinsimpson 1:3ca91ad8e927 24 this->pin3 = 0.0f;
martinsimpson 1:3ca91ad8e927 25 this->pin4 = 0.0f;
martinsimpson 1:3ca91ad8e927 26 }
martinsimpson 1:3ca91ad8e927 27 int Motor::Speed(float speedA, float speedB)
martinsimpson 1:3ca91ad8e927 28 {
martinsimpson 1:3ca91ad8e927 29 if(speedA>1.0f||speedA<-1.0f){ //CHECK speedA Value is in Range!
martinsimpson 1:3ca91ad8e927 30 return -1; //return ERROR code -1=speedA Value out of range! EXIT Function
martinsimpson 1:3ca91ad8e927 31 }
martinsimpson 1:3ca91ad8e927 32 if(speedB>1.0f||speedA<-1.0f){ //CHECK speedB Value is in Range!
martinsimpson 1:3ca91ad8e927 33 return -2; //return ERROR code -2=speedB Value out of range! EXIT Function
martinsimpson 1:3ca91ad8e927 34 }
martinsimpson 1:3ca91ad8e927 35
martinsimpson 1:3ca91ad8e927 36 //If speed values have passed the checks above then the following code will be executed
martinsimpson 1:3ca91ad8e927 37
martinsimpson 1:3ca91ad8e927 38 if(speedA<0.0f)
martinsimpson 1:3ca91ad8e927 39 { //Reverse A motor
martinsimpson 1:3ca91ad8e927 40 this->pin1 = -speedA;
martinsimpson 1:3ca91ad8e927 41 this->pin2 = 0.0f;
martinsimpson 1:3ca91ad8e927 42 }
martinsimpson 1:3ca91ad8e927 43
martinsimpson 1:3ca91ad8e927 44 else
martinsimpson 1:3ca91ad8e927 45 { //Forward A motor
martinsimpson 1:3ca91ad8e927 46 this->pin1 = 0.0f;
martinsimpson 1:3ca91ad8e927 47 this->pin2 = speedA;
martinsimpson 1:3ca91ad8e927 48 }
martinsimpson 1:3ca91ad8e927 49
martinsimpson 1:3ca91ad8e927 50 if(speedB<0.0f)
martinsimpson 1:3ca91ad8e927 51 { //Reverse B motor
martinsimpson 1:3ca91ad8e927 52 this->pin3 = -speedB;
martinsimpson 1:3ca91ad8e927 53 this->pin4 = 0.0f;
martinsimpson 1:3ca91ad8e927 54 }
martinsimpson 1:3ca91ad8e927 55 else
martinsimpson 1:3ca91ad8e927 56 { //Forward B motor
martinsimpson 1:3ca91ad8e927 57 this->pin3 = 0.0f;
martinsimpson 1:3ca91ad8e927 58 this->pin4 = speedB;
martinsimpson 1:3ca91ad8e927 59 }
martinsimpson 1:3ca91ad8e927 60 return 0; //Return ERROR code Zero i.e. NO ERROR success!
martinsimpson 1:3ca91ad8e927 61 }
martinsimpson 1:3ca91ad8e927 62
martinsimpson 0:51c12cc34baf 63 void Motor::Period_in_ms(int msPeriod)
martinsimpson 0:51c12cc34baf 64 {
martinsimpson 0:51c12cc34baf 65 this->pin1.period_ms(msPeriod);
martinsimpson 0:51c12cc34baf 66 this->pin2.period_ms(msPeriod);
martinsimpson 1:3ca91ad8e927 67 this->pin3.period_ms(msPeriod);
martinsimpson 1:3ca91ad8e927 68 this->pin4.period_ms(msPeriod);
martinsimpson 0:51c12cc34baf 69 }