Systems Project / Motor

Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select)

Fork of Motor by Simon Ford

Motor.cpp@3:9b488edf9867, 2018-10-22 (annotated)

Committer:
corwinstites
Date:
Mon Oct 22 00:16:49 2018 +0000
Revision:
3:9b488edf9867
Parent:
2:f265e441bcd9 
Project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simon 0:a470311addc4 1 /* mbed simple H-bridge motor controller
simon 2:f265e441bcd9 2 * Copyright (c) 2007-2010, sford, http://mbed.org
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 #include "Motor.h"
simon 0:a470311addc4 24
simon 0:a470311addc4 25 #include "mbed.h"
simon 0:a470311addc4 26
simon 0:a470311addc4 27 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
simon 0:a470311addc4 28 _pwm(pwm), _fwd(fwd), _rev(rev) {
simon 0:a470311addc4 29
simon 0:a470311addc4 30 // Set initial condition of PWM
corwinstites 3:9b488edf9867 31 _pwm.period(0.020);
simon 0:a470311addc4 32 _pwm = 0;
simon 0:a470311addc4 33
simon 0:a470311addc4 34 // Initial condition of output enables
simon 0:a470311addc4 35 _fwd = 0;
simon 0:a470311addc4 36 _rev = 0;
simon 0:a470311addc4 37 }
simon 0:a470311addc4 38
simon 0:a470311addc4 39 void Motor::speed(float speed) {
simon 0:a470311addc4 40 _fwd = (speed > 0.0);
simon 0:a470311addc4 41 _rev = (speed < 0.0);
simon 0:a470311addc4 42 _pwm = abs(speed);
simon 0:a470311addc4 43 }
simon 0:a470311addc4 44
simon 0:a470311addc4 45
simon 0:a470311addc4 46