motorDriver.cpp

00001 #include "motorDriver.h"
00002 /*
00003 motorDriver::motorDriver(PinName mPlus, PinName mMinus, int freq_khz): motor_P(mPlus), motor_M(mMinus)
00004 {
00005     motor_P.period_us(1000/freq_khz);
00006     motor_M.period_us(1000/freq_khz);
00007 }
00008 */
00009 
00010 /*
00011 void motorDriver::setPWM(float val)
00012 {
00013     val = generalFunctions::constrain_f(val, minPWM, maxPWM); //check if input pwm value is between -100% to 100%
00014 
00015     if(val >= 0) {
00016         motor_P = generalFunctions::abs_f(val);
00017         motor_M = 0;
00018     } else {
00019         motor_P = 0;
00020         motor_M = generalFunctions::abs_f(val);
00021     }
00022 }
00023 */
00024 
00025 motorDriver::motorDriver(): motorL_P(mot_LM), motorL_M(mot_LP), motorR_P(mot_RP), motorR_M(mot_RM)
00026 {
00027     motorL_P.period_us(1000/PWMfreq_khz);
00028     motorL_M.period_us(1000/PWMfreq_khz);
00029     
00030     motorR_P.period_us(1000/PWMfreq_khz);
00031     motorR_M.period_us(1000/PWMfreq_khz);
00032 }
00033 
00034 void motorDriver::setPWM_L(float val)
00035 {
00036     val = generalFunctions::constrain_f(val, minPWM, maxPWM); //check if input pwm value is between -100% to 100%
00037 
00038     if(val >= 0) {
00039         motorL_P = generalFunctions::abs_f(val);
00040         motorL_M = 0;
00041     } else {
00042         motorL_P = 0;
00043         motorL_M = generalFunctions::abs_f(val);
00044     }
00045 }
00046 
00047 void motorDriver::setPWM_R(float val)
00048 {
00049     val = generalFunctions::constrain_f(val, minPWM, maxPWM); //check if input pwm value is between -100% to 100%
00050 
00051     if(val >= 0) {
00052         motorR_P = generalFunctions::abs_f(val);
00053         motorR_M = 0;
00054     } else {
00055         motorR_P = 0;
00056         motorR_M = generalFunctions::abs_f(val);
00057     }
00058 }