![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
55+
Dependencies: BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed
Fork of CleaningMachine_Betago by
motor/Motor.h
- Committer:
- palmdotax
- Date:
- 2016-05-24
- Revision:
- 3:edaab92dbd2f
- Parent:
- 1:45f1573d65a1
File content as of revision 3:edaab92dbd2f:
/* mbed simple H-bridge motor controller * Copyright (c) 2007-2010, sford * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #ifndef MBED_MOTOR_H #define MBED_MOTOR_H #include "mbed.h" #define BRAKE_HIGH 1 #define BRAKE_LOW 0 /** Interface to control a standard DC motor * with an H-bridge using a PwmOut and 2 DigitalOuts */ class Motor { 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 */ Motor(PinName pwm, PinName fwd, PinName rev); /** 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); /** Set the period of the pwm duty cycle. * * Wrapper for PwmOut::period() * * @param seconds - Pwm duty cycle in seconds. */ void period(float period); /** Brake the H-bridge to GND or VCC. * * Defaults to breaking to VCC. * * Brake to GND => inA = inB = 0 * Brake to VCC => inA = inB = 1 */ void brake(int highLow = BRAKE_HIGH); protected: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; }; #endif