Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select)
Fork of Motor by
Diff: Motor.cpp
- Revision:
- 7:d25073d59616
- Parent:
- 6:a321d28cce9a
- Child:
- 8:d192b38e0d5c
diff -r a321d28cce9a -r d25073d59616 Motor.cpp --- a/Motor.cpp Sat May 09 11:04:49 2015 +0000 +++ b/Motor.cpp Wed May 13 16:25:05 2015 +0000 @@ -23,14 +23,14 @@ #include "Motor.h" #include "mbed.h" -Motor::Motor(PinName pwm, PinName fwd, PinName rev) : -_pwm(pwm), _fwd(fwd), _rev(rev), speedControl(K, Ti, Td, itv)//, encoder(CH_A, CH_B, NC, pPerRev) +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; @@ -43,6 +43,8 @@ } void Motor::speed(float speed) { + +/*PID do enkoderow i utrzymywania stalej predkosci*/ /* if (speed != set_speed){ speedControl.setSetPoint(speed);