Riaan Ehlers / L298HBridge

Class library for a L298 H-Bridge to be used for motor control.

L298HBridge.h@0:39561fe6e4ff, 2017-01-19 (annotated)

Committer:
RiaanEhlers
Date:
Thu Jan 19 11:33:01 2017 +0000
Revision:
0:39561fe6e4ff
Child:
1:6d242bb216d6
v1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RiaanEhlers 0:39561fe6e4ff 1 /* L298HBridge Library v1.0
RiaanEhlers 0:39561fe6e4ff 2 * Copyright (c) 2017 Riaan Ehlers
RiaanEhlers 0:39561fe6e4ff 3 * riaan.ehlers@nmmu.ac.za
RiaanEhlers 0:39561fe6e4ff 4 *
RiaanEhlers 0:39561fe6e4ff 5 *
RiaanEhlers 0:39561fe6e4ff 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
RiaanEhlers 0:39561fe6e4ff 7 * of this software and associated documentation files (the "Software"), to deal
RiaanEhlers 0:39561fe6e4ff 8 * in the Software without restriction, including without limitation the rights
RiaanEhlers 0:39561fe6e4ff 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
RiaanEhlers 0:39561fe6e4ff 10 * copies of the Software, and to permit persons to whom the Software is
RiaanEhlers 0:39561fe6e4ff 11 * furnished to do so, subject to the following conditions:
RiaanEhlers 0:39561fe6e4ff 12 *
RiaanEhlers 0:39561fe6e4ff 13 * The above copyright notice and this permission notice shall be included in
RiaanEhlers 0:39561fe6e4ff 14 * all copies or substantial portions of the Software.
RiaanEhlers 0:39561fe6e4ff 15 *
RiaanEhlers 0:39561fe6e4ff 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
RiaanEhlers 0:39561fe6e4ff 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
RiaanEhlers 0:39561fe6e4ff 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
RiaanEhlers 0:39561fe6e4ff 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
RiaanEhlers 0:39561fe6e4ff 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
RiaanEhlers 0:39561fe6e4ff 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
RiaanEhlers 0:39561fe6e4ff 22 * THE SOFTWARE.
RiaanEhlers 0:39561fe6e4ff 23 */
RiaanEhlers 0:39561fe6e4ff 24
RiaanEhlers 0:39561fe6e4ff 25 #ifndef L298HBridge_H
RiaanEhlers 0:39561fe6e4ff 26 #define L298HBridge_H
RiaanEhlers 0:39561fe6e4ff 27
RiaanEhlers 0:39561fe6e4ff 28 #include "mbed.h"
RiaanEhlers 0:39561fe6e4ff 29
RiaanEhlers 0:39561fe6e4ff 30 /** Class library for a HC-SR04 Distance Sensor based on PwmOut (Trig) and InterruptIn (Echo).
RiaanEhlers 0:39561fe6e4ff 31 *
RiaanEhlers 0:39561fe6e4ff 32 * Example:
RiaanEhlers 0:39561fe6e4ff 33 * @code
RiaanEhlers 0:39561fe6e4ff 34 * #include "mbed.h"
RiaanEhlers 0:39561fe6e4ff 35 * #include "HCSR04.h"
RiaanEhlers 0:39561fe6e4ff 36 *
RiaanEhlers 0:39561fe6e4ff 37 * HCSR04 distance(PB_8, PA_1);
RiaanEhlers 0:39561fe6e4ff 38 *
RiaanEhlers 0:39561fe6e4ff 39 * int main() {
RiaanEhlers 0:39561fe6e4ff 40 * while(1){
RiaanEhlers 0:39561fe6e4ff 41 * SWO.printf("Distance = %d (us) %f (cm)\n", distance.read_us(), distance.read_cm());
RiaanEhlers 0:39561fe6e4ff 42 * }
RiaanEhlers 0:39561fe6e4ff 43 * }
RiaanEhlers 0:39561fe6e4ff 44 * @endcode
RiaanEhlers 0:39561fe6e4ff 45 */
RiaanEhlers 0:39561fe6e4ff 46
RiaanEhlers 0:39561fe6e4ff 47 class L298HBridge {
RiaanEhlers 0:39561fe6e4ff 48 public:
RiaanEhlers 0:39561fe6e4ff 49 /** Create a HCSR04 object connected to the specified pins. Once created, the PWM signal
RiaanEhlers 0:39561fe6e4ff 50 * on the Trig pin will start immediately and measurements will start in the background.
RiaanEhlers 0:39561fe6e4ff 51 * @param ENPin PwmOut compatible pin used to connect to HC-SR04's Trig pin
RiaanEhlers 0:39561fe6e4ff 52 * @param EchoPin InterruptIn compatible pin used to connect to HC-SR04's Echo pin
RiaanEhlers 0:39561fe6e4ff 53 */
RiaanEhlers 0:39561fe6e4ff 54 L298HBridge(PinName ENPin, PinName FWDPin, PinName REVPin);
RiaanEhlers 0:39561fe6e4ff 55
RiaanEhlers 0:39561fe6e4ff 56 /** Create a HCSR04 object connected to the specified pins. Once created, the PWM signal
RiaanEhlers 0:39561fe6e4ff 57 * on the Trig pin will start immediately and measurements will start in the background.
RiaanEhlers 0:39561fe6e4ff 58 * @param None
RiaanEhlers 0:39561fe6e4ff 59 */
RiaanEhlers 0:39561fe6e4ff 60 void Fwd();
RiaanEhlers 0:39561fe6e4ff 61
RiaanEhlers 0:39561fe6e4ff 62 /** Create a HCSR04 object connected to the specified pins. Once created, the PWM signal
RiaanEhlers 0:39561fe6e4ff 63 * on the Trig pin will start immediately and measurements will start in the background.
RiaanEhlers 0:39561fe6e4ff 64 * @param None
RiaanEhlers 0:39561fe6e4ff 65 */
RiaanEhlers 0:39561fe6e4ff 66 void Rev();
RiaanEhlers 0:39561fe6e4ff 67
RiaanEhlers 0:39561fe6e4ff 68 /** Create a HCSR04 object connected to the specified pins. Once created, the PWM signal
RiaanEhlers 0:39561fe6e4ff 69 * on the Trig pin will start immediately and measurements will start in the background.
RiaanEhlers 0:39561fe6e4ff 70 * @param None
RiaanEhlers 0:39561fe6e4ff 71 */
RiaanEhlers 0:39561fe6e4ff 72 void Stop();
RiaanEhlers 0:39561fe6e4ff 73
RiaanEhlers 0:39561fe6e4ff 74 /** Create a HCSR04 object connected to the specified pins. Once created, the PWM signal
RiaanEhlers 0:39561fe6e4ff 75 * on the Trig pin will start immediately and measurements will start in the background.
RiaanEhlers 0:39561fe6e4ff 76 * @param None
RiaanEhlers 0:39561fe6e4ff 77 */
RiaanEhlers 0:39561fe6e4ff 78 void Speed(int DutyPercent);
RiaanEhlers 0:39561fe6e4ff 79
RiaanEhlers 0:39561fe6e4ff 80 private:
RiaanEhlers 0:39561fe6e4ff 81 PwmOut _ENPin;
RiaanEhlers 0:39561fe6e4ff 82 DigitalOut _FWDPin, _REVPin;
RiaanEhlers 0:39561fe6e4ff 83 };
RiaanEhlers 0:39561fe6e4ff 84
RiaanEhlers 0:39561fe6e4ff 85 #endif