Diff: HBridgeDCMotor.h

Revision:

2:1675a4c00925

Parent:

1:fb5553d9ff4c

Child:

3:a99a538c067d

--- a/HBridgeDCMotor.h	Wed Jan 14 10:37:57 2015 +0000
+++ b/HBridgeDCMotor.h	Fri Dec 11 13:08:15 2015 +0000
@@ -1,31 +1,58 @@
 #include "mbed.h"
 #include "RateLimiter.h"
 
-/** A class for driving a DC motor using full-bridge MOSFET/IGBT H-driver. 
- * All four transistors' gates are driven separately by four PwmOuts.
- * 
- * Author(s): TVZ Mechatronics Team
+/** A class for driving a DC motor using a full-bridge driver (H-bridge). 
  *
+ * The class has an option to drive all 4 transistors gates independently by using 4 PwmOut objects,
+ * or to drive the H-bridge with complementary driven transistors using only 2 PwmOut objects.
  */
 class HBridgeDCMotor {
     public:
-        /** Constructor receives the pin names at which the gates are connected.
-         * H stands for high side gate and L for low side.
+        /** Constructor for independently driven transistors.
+         * H stands for high side and L for low side transistor.
          * A and B designate the individual half-bridges.
+         * @param GH_A PWM signal for driving the high side transistor of the half-bridge A
+         * @param GL_A PWM signal for driving the low side transistor of the half-bridge A
+         * @param GH_B PWM signal for driving the high side transistor of the half-bridge B
+         * @param GL_B PWM signal for driving the low side transistor of the half-bridge B
          */
         HBridgeDCMotor(PinName GH_A, PinName GL_A, PinName GH_B, PinName GL_B);
-        /** Configure the parameters (sample time in seconds, switching frequency in Hz). */
-        void configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope);
-        /** Set the duty cycle value in range (-1, 1). Negative value means opposite direction. */
+        
+        /** Constructor for complementary driven transistors.
+         * The high side transistors are driven directly, while the low side transistors are
+         * complemented by the driver itself using logic circuits.
+         * A and B designate the individual half-bridges.
+         * @param GH_A PWM signal for driving the high side transistor of the half-bridge A
+         * @param GH_B PWM signal for driving the high side transistor of the half-bridge B
+         */
+        HBridgeDCMotor(PinName GH_A, PinName GH_B);
+        
+        /** Configure the parameters.
+         * @param sampleTime sample time in seconds
+         * @param switchingFrequency switching frequency in Hz
+         * @param rampUpTime set the ramp up time (in seconds) from 0 to maximum speed
+         * @param rampDownTime set the ramp down time (in seconds) from maximum speed to 0
+         */
+        void configure(float sampleTime, float switchingFrequency, float rampUpTime, float rampDownTime);
+        
+        /** Set the motor speed by changing a duty cycle value.
+         * @param dutyCycle Duty cycle value in a range of (-1, 1). Negative value means opposite direction. */
         void setDutyCycle(float dutyCycle);
-        /** Put the drive in a coast mode. */
+        
+        /** Set the drive in a coast mode. */
         void coast();
-        /** Get the current duty cycle. */
+        
+        /** Get the current duty cycle.
+         * @returns the current value of the duty cycle.
+         */
         float getDutyCycle();
+        
     private:
-        PwmOut GH_A, GL_A, GH_B, GL_B;
+        PwmOut *GH_A, *GL_A, *GH_B, *GL_B; // pointers to PwmOut objects
         RateLimiter rl;
         float switchingPeriod, dutyCycle, tempDutyCycle, sampleTime;
+        bool independentGates;
         Ticker ticker;
         void adjustDutyCycle();
+        void init();
 };
\ No newline at end of file