Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select)
Fork of Motor by
MotorL.cpp
- Committer:
- miczyg
- Date:
- 2015-05-15
- Revision:
- 9:9b00a28bc790
File content as of revision 9:9b00a28bc790:
#include "MotorL.h" #include "mbed.h" MotorL::MotorL(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 MotorL::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); }