Qingshu Zhang / Mbed 2 deprecated new_HC-SR504

TDPS3

Dependencies:   mbed HC_SR04_Ultrasonic_Library

L298.cpp@1:60ad9c191ea9, 2019-03-14 (annotated)

Committer:
QingshuZhang
Date:
Thu Mar 14 14:37:20 2019 +0000
Revision:
1:60ad9c191ea9
TDPS3;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
QingshuZhang 1:60ad9c191ea9 1 #include "L298_H.h"
QingshuZhang 1:60ad9c191ea9 2 #include <mbed.h>
QingshuZhang 1:60ad9c191ea9 3
QingshuZhang 1:60ad9c191ea9 4
QingshuZhang 1:60ad9c191ea9 5 L298::L298(PinName pin1, PinName pin2, PinName pin3):m_motorEnable(pin1),m_motorBw(pin2),m_motorFw(pin3){
QingshuZhang 1:60ad9c191ea9 6 /*class constructor : initializes the motors with
QingshuZhang 1:60ad9c191ea9 7 forward enable and speed of 0.3 */
QingshuZhang 1:60ad9c191ea9 8
QingshuZhang 1:60ad9c191ea9 9 //m_dir = true;
QingshuZhang 1:60ad9c191ea9 10 //m_speed = 0.2;
QingshuZhang 1:60ad9c191ea9 11
QingshuZhang 1:60ad9c191ea9 12 m_motorEnable.period_ms(1);
QingshuZhang 1:60ad9c191ea9 13
QingshuZhang 1:60ad9c191ea9 14 SetDirection(1);
QingshuZhang 1:60ad9c191ea9 15 SetSpeed(0.2);
QingshuZhang 1:60ad9c191ea9 16 }
QingshuZhang 1:60ad9c191ea9 17
QingshuZhang 1:60ad9c191ea9 18
QingshuZhang 1:60ad9c191ea9 19 void L298::SetDirection(bool dir){
QingshuZhang 1:60ad9c191ea9 20 /*set direction of one of the sides depending on pwmSelect
QingshuZhang 1:60ad9c191ea9 21 direction : 1 go forward ,0 go backwards*/
QingshuZhang 1:60ad9c191ea9 22
QingshuZhang 1:60ad9c191ea9 23
QingshuZhang 1:60ad9c191ea9 24
QingshuZhang 1:60ad9c191ea9 25 if(dir){
QingshuZhang 1:60ad9c191ea9 26 m_motorBw = 0;
QingshuZhang 1:60ad9c191ea9 27 m_motorFw = 1;
QingshuZhang 1:60ad9c191ea9 28 }
QingshuZhang 1:60ad9c191ea9 29 else{
QingshuZhang 1:60ad9c191ea9 30 m_motorBw = 1;
QingshuZhang 1:60ad9c191ea9 31 m_motorFw = 0;
QingshuZhang 1:60ad9c191ea9 32 }
QingshuZhang 1:60ad9c191ea9 33
QingshuZhang 1:60ad9c191ea9 34
QingshuZhang 1:60ad9c191ea9 35 m_prevDir = dir;
QingshuZhang 1:60ad9c191ea9 36
QingshuZhang 1:60ad9c191ea9 37 }
QingshuZhang 1:60ad9c191ea9 38
QingshuZhang 1:60ad9c191ea9 39
QingshuZhang 1:60ad9c191ea9 40 void L298::SetSpeed(float speed){
QingshuZhang 1:60ad9c191ea9 41 /*set speed on the pwm which is point by m_pwmPtr (set by SetDirection)
QingshuZhang 1:60ad9c191ea9 42 speed : the speed given to the motor, ranges from 0 to 1*/
QingshuZhang 1:60ad9c191ea9 43
QingshuZhang 1:60ad9c191ea9 44 if(speed<=0) m_motorEnable.write(0);
QingshuZhang 1:60ad9c191ea9 45 else if(speed>=1.0)m_motorEnable.write(1.0);
QingshuZhang 1:60ad9c191ea9 46 else m_motorEnable.write(speed);
QingshuZhang 1:60ad9c191ea9 47
QingshuZhang 1:60ad9c191ea9 48 }
QingshuZhang 1:60ad9c191ea9 49
QingshuZhang 1:60ad9c191ea9 50