Eric Coyle / DRV8835

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Dependents:   ME503_VehicleAssembly

DRV8835.cpp@0:0902ae053e3f, 2015-08-25 (annotated)

Committer:
DrCoyle
Date:
Tue Aug 25 20:29:27 2015 +0000
Revision:
0:0902ae053e3f
Child:
1:edc8af84b968
Library for ERAU ME503

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrCoyle 0:0902ae053e3f 1 /* File: DRV8835.cpp
DrCoyle 0:0902ae053e3f 2 * Adopted from work by Cameron Isbell
DrCoyle 0:0902ae053e3f 3 *
DrCoyle 0:0902ae053e3f 4 * Description: library for DRV8835 Motor Driver
DrCoyle 0:0902ae053e3f 5 * Assumptions: A is left and B is right
DrCoyle 0:0902ae053e3f 6 */
DrCoyle 0:0902ae053e3f 7
DrCoyle 0:0902ae053e3f 8 #include "mbed.h"
DrCoyle 0:0902ae053e3f 9 #include "DRV8835.h"
DrCoyle 0:0902ae053e3f 10
DrCoyle 0:0902ae053e3f 11
DrCoyle 0:0902ae053e3f 12 DRV8835::DRV8835( PinName pinPwmL, PinName pinLin,
DrCoyle 0:0902ae053e3f 13 PinName pinPwmR, PinName pinRin) :
DrCoyle 0:0902ae053e3f 14 pwmL(pinPwmL),
DrCoyle 0:0902ae053e3f 15 Lin(pinLin),
DrCoyle 0:0902ae053e3f 16 pwmR(pinPwmR),
DrCoyle 0:0902ae053e3f 17 Rin(pinRin)
DrCoyle 0:0902ae053e3f 18 {
DrCoyle 0:0902ae053e3f 19 Lin = 0;
DrCoyle 0:0902ae053e3f 20 Rin = 0;
DrCoyle 0:0902ae053e3f 21 pwmL.period(DRV8835_PWM_PERIOD_DEFAULT);
DrCoyle 0:0902ae053e3f 22 pwmL = DRV8835_PWM_PULSEWIDTH_DEFAULT;
DrCoyle 0:0902ae053e3f 23 pwmR.period(DRV8835_PWM_PERIOD_DEFAULT);
DrCoyle 0:0902ae053e3f 24 pwmR = DRV8835_PWM_PULSEWIDTH_DEFAULT;
DrCoyle 0:0902ae053e3f 25 motorL_stop();
DrCoyle 0:0902ae053e3f 26 motorR_stop();
DrCoyle 0:0902ae053e3f 27 }
DrCoyle 0:0902ae053e3f 28
DrCoyle 0:0902ae053e3f 29
DrCoyle 0:0902ae053e3f 30 void DRV8835::motorL_stop(void)
DrCoyle 0:0902ae053e3f 31 {
DrCoyle 0:0902ae053e3f 32 pwmL = 0;
DrCoyle 0:0902ae053e3f 33 }
DrCoyle 0:0902ae053e3f 34
DrCoyle 0:0902ae053e3f 35 void DRV8835::motorL_rev(float fPulsewidth)
DrCoyle 0:0902ae053e3f 36 {
DrCoyle 0:0902ae053e3f 37 Lin = 0;
DrCoyle 0:0902ae053e3f 38 pwmL = fPulsewidth;
DrCoyle 0:0902ae053e3f 39 }
DrCoyle 0:0902ae053e3f 40
DrCoyle 0:0902ae053e3f 41 void DRV8835::motorL_fwd(float fPulsewidth)
DrCoyle 0:0902ae053e3f 42 {
DrCoyle 0:0902ae053e3f 43 Lin = 1;
DrCoyle 0:0902ae053e3f 44 pwmL = fPulsewidth;
DrCoyle 0:0902ae053e3f 45 }
DrCoyle 0:0902ae053e3f 46
DrCoyle 0:0902ae053e3f 47 void DRV8835::motorR_stop(void)
DrCoyle 0:0902ae053e3f 48 {
DrCoyle 0:0902ae053e3f 49 pwmR = 0;
DrCoyle 0:0902ae053e3f 50 }
DrCoyle 0:0902ae053e3f 51
DrCoyle 0:0902ae053e3f 52 void DRV8835::motorR_fwd(float fPulsewidth)
DrCoyle 0:0902ae053e3f 53 {
DrCoyle 0:0902ae053e3f 54 Rin = 0;
DrCoyle 0:0902ae053e3f 55 pwmR = fPulsewidth;
DrCoyle 0:0902ae053e3f 56 }
DrCoyle 0:0902ae053e3f 57
DrCoyle 0:0902ae053e3f 58 void DRV8835::motorR_rev(float fPulsewidth)
DrCoyle 0:0902ae053e3f 59 {
DrCoyle 0:0902ae053e3f 60 Rin = 1;
DrCoyle 0:0902ae053e3f 61 pwmR = fPulsewidth;
DrCoyle 0:0902ae053e3f 62 }