A simple Hbridge driver library (tested with the L293D). It uses a PWM pin on the enable and two DIOs on the control pins. Versatile.
Fork of HBridge by
HBridge.h
- Committer:
- p07gbar
- Date:
- 2012-09-20
- Revision:
- 0:16208393c7ae
- Child:
- 1:ef9cf0926575
File content as of revision 0:16208393c7ae:
/** * @author Giles Barton-Owen * * @section LICENSE * * Copyright (c) 2012 mbed * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * @section DESCRIPTION * A simple library to control an H-Bridge driver using two DIO and a PWM pin * */ #ifndef HBRIDGERAW_H #define HBRIDGERAW_H #include "mbed.h" /** A simple HBridge controller library */ class HBridge { public: /** Creates an instance of the HBridge class * * @param A The pin the "A" line is connected to (naming taken from the L293D). * @param B The pin the "B" line is connected to (naming taken from the L293D). * @param en The pin the enable line is connected to.] */ HBridge(PinName A, PinName B, PinName en); /** Hard stops the motor */ void stop(); /** Starts the motor */ void start(); /** Sets the PWM output of the enable pin and therefore the speed of the motor * * @param speed_in The float value of the desired speed between -1 and 1 */ void speed(float speed_in); /** Turn off and on the enable pin * * @param onoff Enable the motor or not (on(true)) */ void power(bool onoff); /** Set the pwm value of the enable pin * * @param power_in The value of the pwm enable pins */ void power(float power_in); /** Soft stop the motor */ void soft_stop(); /** Go forward, starts the motor */ void forward(); /** Go backward, starts the motor */ void backward(); /** Go forward, starts the motor * * @param speed_in The float value of the desired speed between 0 and 1 */ void forward(float speed_in); /** Go backward, starts the motor * * @param speed_in The float value of the desired speed between 0 and 1 */ void backward(float speed_in); /** Set A high or low * * @param highlow Set the high/low state of the A half-bridge (high(true)) */ void A(bool highlow); /** Set B high or low * * @param highlow Set the high/low state of the B half-bridge (high(true)) */ void B(bool highlow); /** Set the direction of travel * * @param direction_in Forward = true */ void direction(bool direction_in); private: PwmOut enable; DigitalOut Adrive; DigitalOut Bdrive; bool power_status; float speed_value; bool A_value; bool B_value; bool stored_direction; void set(); }; #endif