L298.cpp

00001 #include "L298_H.h"
00002 #include <mbed.h>
00003 
00004 
00005 L298::L298(PinName pin1, PinName pin2, PinName pin3):m_motorEnable(pin1),m_motorBw(pin2),m_motorFw(pin3){
00006     /*class constructor : initializes the motors with 
00007     forward enable and speed of 0.3 */
00008     
00009     //m_dir = true;
00010     //m_speed = 0.2;
00011     
00012     m_motorEnable.period_ms(10);
00013     
00014     SetDirection(1);
00015     SetSpeed(0.0);
00016 }
00017     
00018     
00019 void L298::SetDirection(bool dir){
00020     /*set direction of one of the sides depending on pwmSelect
00021     direction : 1 go forward  ,0 go backwards*/    
00022     
00023     
00024     
00025     if(dir){
00026         m_motorBw = 0;
00027         m_motorFw = 1; 
00028     }
00029     else{
00030         m_motorBw = 1;
00031         m_motorFw = 0;
00032     }
00033         
00034     
00035     m_prevDir = dir;
00036         
00037 }
00038 
00039 
00040 void L298::SetSpeed(float speed){
00041     /*set speed on the pwm which is point by m_pwmPtr (set by SetDirection)
00042     speed : the speed given to the motor, ranges from 0 to 1*/
00043     
00044     if(speed<=0) m_motorEnable.write(0);
00045     else if(speed>=1.0)m_motorEnable.write(1.0);
00046     else m_motorEnable.write(speed);   
00047          
00048 }
00049 
00050 void L298::Stop(){
00051     m_motorEnable.write(0);   
00052 }
00053 
00054