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

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L298HBridge.h

00001 /* L298HBridge Library v1.0
00002  * Copyright (c) 2017 Riaan Ehlers
00003  * riaan.ehlers@nmmu.ac.za
00004  *
00005  *
00006  * Permission is hereby granted, free of charge, to any person obtaining a copy
00007  * of this software and associated documentation files (the "Software"), to deal
00008  * in the Software without restriction, including without limitation the rights
00009  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00010  * copies of the Software, and to permit persons to whom the Software is
00011  * furnished to do so, subject to the following conditions:
00012  *
00013  * The above copyright notice and this permission notice shall be included in
00014  * all copies or substantial portions of the Software.
00015  *
00016  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00017  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00018  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00019  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00020  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00021  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00022  * THE SOFTWARE.
00023  */
00024  
00025 #ifndef L298HBridge_H
00026 #define L298HBridge_H
00027  
00028 #include "mbed.h"
00029  
00030 /** Class library for a L298 H-Bridge. The class is written for one H-Bridge of
00031  * the L298. Constructing the class twice will enable you to use both H-bridges.
00032  *
00033  * Example:
00034  * @code
00035  * #include "mbed.h"
00036  * #include "L298HBridge.h"
00037 
00038  * L298HBridge Motor(PB_4, PC_4, PC_5);
00039    
00040  * int main() 
00041  * {
00042  *    float i;
00043  *    while(1) 
00044  *    {
00045  *        Motor.Fwd();
00046  *       
00047  *        for(i=0;i<100;i++)
00048  *        {
00049  *            Motor.Speed(i);
00050  *            wait(0.1);
00051  *        }
00052  *                
00053  *        for(i=100;i>25;i--)
00054  *        {
00055  *            Motor.Speed(i);
00056  *            wait(0.1);
00057  *        }
00058  *        
00059  *        Motor.Rev();
00060  *                
00061  *        for(i=0;i<100;i++)
00062  *        {
00063  *            Motor.Speed(i);
00064  *            wait(0.1);
00065  *        }
00066  *                
00067  *        for(i=100;i>25;i--)
00068  *        {
00069  *            Motor.Speed(i);
00070  *            wait(0.1);
00071  *        }
00072  *    }
00073  * }
00074  * @endcode
00075  */
00076  
00077 class L298HBridge {
00078   public:
00079     /** Create a L298HBridge object connected to the specified pins. 
00080     * Once created, the motor speed will be set to 0 (PWM signal will be 0%) and
00081     * the motor will be in the stop mode (neither forward or reverse).
00082     * @param ENPin  PwmOut compatible pin used to connect to L298's En(x) pin associated with enabling the H-Bridge.
00083     * @param FWDPin GPIO pin used to connect to L298's In(x) pin associated with forward direction.
00084     * @param REVPin GPIO pin used to connect to L298's In(x) pin associated with reverse direction.
00085     */
00086     L298HBridge(PinName ENPin, PinName FWDPin, PinName REVPin);
00087     
00088     /** Configure the H-Bridge to run the motor in the forward direction.    
00089     * @param None
00090     */
00091     void Fwd();
00092     
00093     /** Configure the H-Bridge to run the motor in the reverse direction.    
00094     * @param None
00095     */
00096     void Rev();
00097     
00098     /** Switch the H-Bridge off. The H-Bridge is not set to forward or reverse. 
00099     * @param None
00100     */
00101     void Stop();
00102     
00103    /** Change the motor's speed by adjusting the PWM signal.
00104     *  The value passed to the function can be any value from 0 to 100.
00105     *  Where 0 = 0% and 100 = 100%.
00106     * @param DutyPercent
00107     */
00108     void Speed(float DutyPercent);
00109  
00110   private:
00111     PwmOut _ENPin;
00112     DigitalOut _FWDPin, _REVPin;
00113 };
00114  
00115 #endif