Diff: HBridge.cpp

Revision:

0:9afc272fa65f

Child:

4:2d38ad348e0d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HBridge.cpp	Fri Jun 24 21:03:20 2016 +0000
@@ -0,0 +1,37 @@
+/*
+ * HBridge.cpp
+ *
+ *  Created on: Jun 4, 2016
+ *      Author: Developer
+ */
+
+#include <HBridge.hpp>
+#include <cmath>
+
+HBridge::HBridge(PinName PWMPin, PinName DirectionPin)
+: PWMOut(PWMPin), DirectionOut(DirectionPin) {
+    // 10 ms period == 100 Hz works well.
+    PWMOut.period_ms(10);
+}
+
+HBridge::~HBridge() {
+    // TODO Auto-generated destructor stub
+}
+
+void HBridge::write(float percent) {
+    // Write the percent value as a PWM out.
+    PWMOut.write(std::abs(percent));
+    // Write the direction as the sign of percent.
+    DirectionOut.write(percent >= 0);
+    // Set the output has changed flag to 1.
+    outputHasChanged = true;
+}
+
+float HBridge::read() {
+    static float prevValue;
+    if (outputHasChanged) {
+        outputHasChanged = false;
+        prevValue = (DirectionOut.read()) ? PWMOut.read() : -PWMOut.read();
+    }
+    return prevValue;
+}