File content as of revision 9:9b00a28bc790:

#include "MotorR.h"
#include "mbed.h"

MotorR::MotorR(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 MotorR::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);
}