Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select)
Fork of Motor by
Motor.cpp
- Committer:
- miczyg
- Date:
- 2015-05-15
- Revision:
- 9:9b00a28bc790
- Parent:
- 8:d192b38e0d5c
- Child:
- 10:f22e6393af83
File content as of revision 9:9b00a28bc790:
/* mbed simple H-bridge motor controller * Copyright (c) 2007-2010, sford, http://mbed.org * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "Motor.h" #include "mbed.h" Motor::Motor(PinName pwm, PinName fwd, PinName rev, PinName stby) : _pwm(pwm), _fwd(fwd), _rev(rev), _stdby(stby)//, speedControl(K, Ti, Td, itv)//, encoder(CH_A, CH_B, NC, pPerRev) { // Set initial condition of PWM _pwm.period(0.001); _pwm = 0; _stdby = 1; // Initial condition of output enables _fwd = 0; _rev = 0; //PID config //speedControl.setInputLimits(0, 1); //speedControl.setOutputLimits(0, 1); //speedControl.setMode(AUTO); } void Motor::speed(float speed) { /*PID do enkoderow i utrzymywania stalej predkosci*/ /* if (speed != set_speed){ speedControl.setSetPoint(speed); set_speed = speed; } pulses = encoder.getPulses(); curr_speed = (pulses-prev_pulses) / max_pulse_rate; prev_pulses = pulses; speedControl.setProcessValue(curr_speed); speed = speedControl.compute(); */ _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = abs(speed); }