TDPS3
Diff: L298.cpp
- Revision:
- 0:32705e4af4b9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/L298.cpp Tue Mar 19 12:38:17 2019 +0000 @@ -0,0 +1,50 @@ +#include "L298_H.h" +#include <mbed.h> + + +L298::L298(PinName pin1, PinName pin2, PinName pin3):m_motorEnable(pin1),m_motorBw(pin2),m_motorFw(pin3){ + /*class constructor : initializes the motors with + forward enable and speed of 0.3 */ + + //m_dir = true; + //m_speed = 0.2; + + m_motorEnable.period_ms(1); + + SetDirection(1); + SetSpeed(0.2); +} + + +void L298::SetDirection(bool dir){ + /*set direction of one of the sides depending on pwmSelect + direction : 1 go forward ,0 go backwards*/ + + + + if(dir){ + m_motorBw = 0; + m_motorFw = 1; + } + else{ + m_motorBw = 1; + m_motorFw = 0; + } + + + m_prevDir = dir; + +} + + +void L298::SetSpeed(float speed){ + /*set speed on the pwm which is point by m_pwmPtr (set by SetDirection) + speed : the speed given to the motor, ranges from 0 to 1*/ + + if(speed<=0) m_motorEnable.write(0); + else if(speed>=1.0)m_motorEnable.write(1.0); + else m_motorEnable.write(speed); + +} + +