Diff: HBridge.hpp

Revision:

0:9afc272fa65f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HBridge.hpp	Fri Jun 24 21:03:20 2016 +0000
@@ -0,0 +1,71 @@
+/**
+ * @file HBridge.hpp
+ * @author Weimen Li
+ * @date June 4th, 2016
+ * @brief HBridge Class Header
+ * @class HBridge
+ * @brief The HBridge class encapsulates a physical H-Bridge from which the direction
+ * and PWM output can be controlled with separate pins.
+ * Example Usage:
+ * @code
+// First, you must ensure that HBridge is included.
+#include "HBridge.hpp"
+
+// Create a new H-Bridge object -
+// If many functions need access to it, do it out here, in a global scope.
+// Otherwise, only create it in the function that you need it in.
+
+// With a global scope:
+HBridge HBridgeGlobal(PTA12, PTA13);
+
+void someFunction() {
+    // With a local scope: (May need to be static to persist across calls to the function.)
+    static HBridge HBridgeLocal(PTA14, PTA15);
+    HBridgeLocal.write(0.75);
+}
+
+int main() {
+
+    for(;;) {
+        // Write to an HBridge by calling its write method:
+        HBridgeGlobal.write(0.50);
+        someFunction();
+    }
+}
+ * @endcode
+ *
+ */
+
+#ifndef HBRIDGE_H_
+#define HBRIDGE_H_
+#include "mbed.h"
+
+class HBridge {
+public:
+    /**
+     * @brief Constructor for the H-bridge.
+     * @param PWMPin The Pin that the motor PWM is attached to.
+     * @param DirectionPin The Pin that the direction control is attached to.
+     */
+    HBridge(PinName PWMPin, PinName DirectionPin);
+    virtual ~HBridge();
+    /**
+     * @brief Write an output to the H bridge.
+     * @param percent a float between -1 and 1, where the magnitude indicates the
+     * duty cycle, and the sign indicates the direction. Values exceeding the range are automatically
+     * set to 1.
+     */
+    void write(float percent);
+    /**
+     * @brief Read the current output from the H-bridge.
+     * @returns A float between -1 and 1, where the magnitude
+     * indicates the duty cycle, and the sign indicates the direction.
+     */
+    float read();
+private:
+    PwmOut PWMOut;
+    DigitalOut DirectionOut;
+    bool outputHasChanged;
+};
+
+#endif /* HBRIDGE_H_ */