Basic Library for Pololu DRV8835
Dependents: ME503_VehicleAssembly
DRV8835.h
00001 /* File: DRV8835.h 00002 * Adopted from work by Cameron Isbell 00003 * 00004 * Description: library for DRV8835 Motor Driver 00005 * Assumptions: A is left and B is right 00006 */ 00007 #ifndef __DRV8835_H__ 00008 #define __DRV8835_H__ 00009 00010 #include "mbed.h" 00011 00012 #define DRV8835_PWM_PERIOD_DEFAULT (0.002) // 2 ms period // 50KHz (0.00002) 00013 #define DRV8835_PWM_PULSEWIDTH_DEFAULT (0.50) // 50% duty cycle 00014 00015 class DRV8835 00016 { 00017 public: 00018 DRV8835( PinName pinPwmL, PinName pinLin, 00019 PinName pinPwmR, PinName pinRin); 00020 00021 void motorL_stop(void); 00022 void motorL_fwd(float fPulsewidth); 00023 void motorL_rev(float fPulsewidth); 00024 void motorR_stop(void); 00025 void motorR_fwd(float fPulsewidth); 00026 void motorR_rev(float fPulsewidth); 00027 void setSpeeds(float Right,float Left); 00028 void stop(void); 00029 00030 private: 00031 PwmOut pwmL; 00032 DigitalOut Lin; 00033 PwmOut pwmR; 00034 DigitalOut Rin; 00035 }; 00036 00037 #endif /* __DRV8835_H__ */
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