Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select)
Fork of Motor by
MotorR.h
- Committer:
- miczyg
- Date:
- 2015-05-15
- Revision:
- 9:9b00a28bc790
File content as of revision 9:9b00a28bc790:
#ifndef MBED_MOTORR_H #define MBED_MOTORR_H #include "mbed.h" //#include "PID.h" /*nastawy regulatora PID*/ /* const float K = 1; const float Ti = 0; const float Td = 0; const float itv = 0.001; #define AUTO 1 */ /** Interface to control a standard DC motor * * with an H-bridge using a PwmOut and 2 DigitalOuts */ class MotorR { public: /** Create a motor control interface * * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed * @param fwd A DigitalOut, set high when the motor should go forward * @param rev A DigitalOut, set high when the motor should go backwards */ MotorR(PinName pwm, PinName fwd, PinName rev, PinName stby); /** Set the speed of the motor * * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 */ void speed(float speed); /**Change the stand by status of H-bridge * * @param status 0 - bridge disabled, 1 - bridge enabled */ void setStandby(bool status) { _stdby = status; } protected: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; DigitalOut _stdby; private: //PID speedControl; //QEI encoder; float set_speed; }; #endif