Diff: MotorDriver.h

Revision:

0:be45415ffe07

Child:

1:4b1582384e71

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriver.h	Sat Sep 27 07:18:56 2014 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+/** PWM/Direction Motor Driver
+ *  Compatible with VNH3SP30 Motor Driver Carrier MD01B
+ *
+ * Example: 
+ * @code
+ * #include "MotorDriver.h"
+ * MotorDriver motor(p21, p5, p6);
+ * int main() {
+ *     while(true) {
+ *         motor = -0.5;
+ *         wait(0.5); 
+ *         motor = -1;
+ *         wait(0.5);
+ *         motor = -0.5;
+ *         wait(0.5); 
+ *         motor = 0;
+ *         wait(0.5)
+ *         motor = 0.5;
+ *         wait(0.5)
+ *         motor = 1;
+ *         wait(0.5);
+ *         motor = 0.5;
+ *         wait(0.5);
+ *         motor = 0;
+ *         wait(0.5);
+ *   }
+ * }
+ * @endcode
+ * @author Michael Vartan
+ */
+class MotorDriver {
+public:
+    /**
+     * Create a PWM/Direction motor on the specified pins.
+     * @param   PwmPin          The pin which sends PWM Output to the motor driver
+     * @param   directionPin1   The first of two direction pins to the motor driver
+     * @param   directionPin2   The second of two direction pins to the motor driver
+     */
+    MotorDriver(PinName PWMPin, PinName directionPin1, PinName directionPin2);    
+    
+    /**
+     * Sets the PWM duty cycle to the absolute value of your percentage, and the direction as
+     * the sign of your value.
+     * @param   value   From -1.0 to 1.0, the percentage you want to run your motor at.
+     */
+    void SetValue(float value);  
+    
+    /**
+     * Gets the last value assigned to the motor driver.
+     *
+     * @returns motor driver value
+     */
+    float GetValue() const;
+    
+    /**
+     * Shorthand for GetValue
+     */
+    MotorDriver& operator=(float value);
+private:
+    PwmOut mPWM;
+    DigitalOut mDir1;
+    DigitalOut mDir2;
+    float mValue;
+};
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