Diff: Components/l6474/l6474_class.h

Revision:

13:ba2728afe4c2

Parent:

12:9f4b9540ff3e

Child:

15:40470df81d9a

--- a/Components/l6474/l6474_class.h	Fri Nov 27 11:25:21 2015 +0000
+++ b/Components/l6474/l6474_class.h	Tue Dec 01 13:54:37 2015 +0000
@@ -445,7 +445,7 @@
     }
 
     /**
-     * @brief  Stopping the motor.
+     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
      * @param  None.
      * @retval None.
      */
@@ -455,7 +455,7 @@
     }
 
     /**
-     * @brief  Stopping the motor and disabling the power bridge.
+     * @brief  Stopping the motor through an immediate infinite deceleration.
      * @param  None.
      * @retval None.
      */
@@ -465,6 +465,28 @@
     }
 
     /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftHiZ(void)
+    {
+        L6474_SoftStop();
+        L6474_CmdDisable();
+    }
+
+    /**
+     * @brief  Disabling the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardHiZ(void)
+    {
+        L6474_HardStop();
+        L6474_CmdDisable();
+    }
+
+    /**
      * @brief  Waiting while the motor is active.
      * @param  None.
      * @retval None.