Diff: MotorDriver.cpp

Revision:

0:c54243e9db1d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriver.cpp	Sat Feb 25 21:54:26 2017 +0000
@@ -0,0 +1,65 @@
+#include "MotorDriver.h"
+
+MotorDriver::MotorDriver(PinName Pwm, PinName DirA, PinName DirB) : _pwm(Pwm), _dirA(DirA), _dirB(DirB){
+        _dirA = 0;
+        _dirB = 0;
+        _pwm.period_us(50);
+        _pwm.write(0.0);
+        enabled = 0;
+}
+
+void MotorDriver::setSpeed(float power_f)
+{
+    bool dir;
+    int speed = abs(power_f);
+    
+    if(power_f < 0)
+        dir = 1;
+    else
+        dir = 0;
+
+    setSpeed(dir,speed);        
+}
+
+void MotorDriver::setSpeed(bool dir, int power)
+{
+    if(enabled)
+    {
+        _pwm.write(0.0);
+        _dirA = 0;
+        _dirB = 0;
+        _dirA = dir;
+        _dirB = !dir;
+        _pwm.write(power/100.0);
+    }
+}
+    
+void MotorDriver::setEnabled(bool newState)
+{
+    enabled = newState;
+    if(!enabled)
+        stop();
+}
+
+bool MotorDriver::isEnabled()
+{
+    return enabled;
+}
+
+void MotorDriver::stop()
+{
+    _pwm.write(0.0);
+    _dirA = 0;
+    _dirB = 0;
+}
+    
+void MotorDriver::hold()
+{
+    if(enabled)
+    {
+        _pwm.write(0.0);
+        wait(0.001);
+        _dirA = 1;
+        _dirB = 1;
+    }
+}
\ No newline at end of file