Diff: vnh_2sp30.cpp

Revision:

0:d7f40a9a9020

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/vnh_2sp30.cpp	Wed Mar 28 16:18:22 2018 +0000
@@ -0,0 +1,30 @@
+#include <vnh_2sp30.h>
+#include <vnh_2sp30_conf.h>
+#include <mbed.h>
+
+vnh_2sp30::vnh_2sp30(){
+    ENA = new digitalOut(ENA_PIN);
+    ENB = new digitalOut(ENB_PIN);
+    PWM = new PwmOut (PWM_PIN);
+    CS = new analogIn (CS_PIN);
+    t = new Ticker (&update, 1/freq);
+    
+    }
+    vnh_2sp30::set_vel(float vel){
+        this.vel = vel;
+        }
+    vnh_2sp30::set_dir(int dir){
+        this.dir = dir;
+        }
+    vnh_2sp30::set_acc(float acc){
+        this.acc = acc;
+        }
+    vnh_2sp30::update(){
+        if(dir == 0x1){
+             ENA = 0; ENB = 1;
+             }
+        if(dir == 0x0){
+            ENA = 1; ENB = 0;
+            }
+            PWM.period (PWM_PERIOD);
+        }
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