TDPS3
Dependencies: mbed HC_SR04_Ultrasonic_Library
L298.cpp
- Committer:
- QingshuZhang
- Date:
- 2019-03-14
- Revision:
- 1:60ad9c191ea9
File content as of revision 1:60ad9c191ea9:
#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); }