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Testprogramm fuer den SMD IoTKit Shield.
Dependencies: MFRC522 RemoteIR Servo StepperMotorUni mbed-rtos mbed ESP8266 RCSwitch SAA1064 TMP175
Motor/Motor.cpp@0:1b22732d0d8d, 2015-03-23 (annotated)
- Committer:
- marcel1691
- Date:
- Mon Mar 23 08:58:42 2015 +0000
- Revision:
- 0:1b22732d0d8d
Testprogramm fuer den SMD IoTKit Shield.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
marcel1691 | 0:1b22732d0d8d | 1 | /* mbed simple H-bridge motor controller |
marcel1691 | 0:1b22732d0d8d | 2 | * Copyright (c) 2007-2010, sford, http://mbed.org |
marcel1691 | 0:1b22732d0d8d | 3 | * |
marcel1691 | 0:1b22732d0d8d | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
marcel1691 | 0:1b22732d0d8d | 5 | * of this software and associated documentation files (the "Software"), to deal |
marcel1691 | 0:1b22732d0d8d | 6 | * in the Software without restriction, including without limitation the rights |
marcel1691 | 0:1b22732d0d8d | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
marcel1691 | 0:1b22732d0d8d | 8 | * copies of the Software, and to permit persons to whom the Software is |
marcel1691 | 0:1b22732d0d8d | 9 | * furnished to do so, subject to the following conditions: |
marcel1691 | 0:1b22732d0d8d | 10 | * |
marcel1691 | 0:1b22732d0d8d | 11 | * The above copyright notice and this permission notice shall be included in |
marcel1691 | 0:1b22732d0d8d | 12 | * all copies or substantial portions of the Software. |
marcel1691 | 0:1b22732d0d8d | 13 | * |
marcel1691 | 0:1b22732d0d8d | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
marcel1691 | 0:1b22732d0d8d | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
marcel1691 | 0:1b22732d0d8d | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
marcel1691 | 0:1b22732d0d8d | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
marcel1691 | 0:1b22732d0d8d | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
marcel1691 | 0:1b22732d0d8d | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
marcel1691 | 0:1b22732d0d8d | 20 | * THE SOFTWARE. |
marcel1691 | 0:1b22732d0d8d | 21 | */ |
marcel1691 | 0:1b22732d0d8d | 22 | |
marcel1691 | 0:1b22732d0d8d | 23 | #include "Motor.h" |
marcel1691 | 0:1b22732d0d8d | 24 | |
marcel1691 | 0:1b22732d0d8d | 25 | #include "mbed.h" |
marcel1691 | 0:1b22732d0d8d | 26 | |
marcel1691 | 0:1b22732d0d8d | 27 | Motor::Motor(PinName pwm, PinName fwd, PinName rev): |
marcel1691 | 0:1b22732d0d8d | 28 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
marcel1691 | 0:1b22732d0d8d | 29 | |
marcel1691 | 0:1b22732d0d8d | 30 | // Set initial condition of PWM |
marcel1691 | 0:1b22732d0d8d | 31 | _pwm.period(0.00001); |
marcel1691 | 0:1b22732d0d8d | 32 | _pwm = 0; |
marcel1691 | 0:1b22732d0d8d | 33 | |
marcel1691 | 0:1b22732d0d8d | 34 | // Initial condition of output enables |
marcel1691 | 0:1b22732d0d8d | 35 | _fwd = 0; |
marcel1691 | 0:1b22732d0d8d | 36 | _rev = 0; |
marcel1691 | 0:1b22732d0d8d | 37 | } |
marcel1691 | 0:1b22732d0d8d | 38 | |
marcel1691 | 0:1b22732d0d8d | 39 | void Motor::speed(float speed) { |
marcel1691 | 0:1b22732d0d8d | 40 | _fwd = (speed > 0.0); |
marcel1691 | 0:1b22732d0d8d | 41 | _rev = (speed < 0.0); |
marcel1691 | 0:1b22732d0d8d | 42 | _pwm = abs(speed); |
marcel1691 | 0:1b22732d0d8d | 43 | } |
marcel1691 | 0:1b22732d0d8d | 44 | |
marcel1691 | 0:1b22732d0d8d | 45 | |
marcel1691 | 0:1b22732d0d8d | 46 |