Diff: HBridgeDCMotor.h

Revision:

0:d3f1d0d52615

Child:

1:fb5553d9ff4c

diff -r 000000000000 -r d3f1d0d52615 HBridgeDCMotor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HBridgeDCMotor.h	Wed Jan 14 08:51:14 2015 +0000
@@ -0,0 +1,29 @@
+#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
+ *
+ */
+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.
+         * A and B designate the individual half-bridges.
+         */
+        HBridgeDCMotor(PinName GH_A, PinName GL_A, PinName GH_B, PinName GL_B);
+        /** Set the duty cycle value in range (-1, 1). Negative value means opposite direction. */
+        void setDutyCycle(float dutyCycle);
+        /** Put the drive in a coast mode. */
+        void coast();
+        /** Get the current duty cycle. */
+        float getDutyCycle();
+    private:
+        PwmOut GH_A, GL_A, GH_B, GL_B;
+        RateLimiter rl;
+        float switchingPeriod, dutyCycle, tempDutyCycle, sampleTime;
+        Ticker ticker;
+        void adjustDutyCycle();
+};
\ No newline at end of file