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Diff: motor/Motor.h
- Revision:
- 0:aa8e05bc0533
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motor/Motor.h Thu Feb 27 12:40:03 2020 +0000 @@ -0,0 +1,80 @@ +/* mbed simple H-bridge motor controller + * Copyright (c) 2007-2010, sford + * + * 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. + */ + +#ifndef MBED_MOTOR_H +#define MBED_MOTOR_H + +#include "mbed.h" + +#define BRAKE_HIGH 1 +#define BRAKE_LOW 0 + +/** Interface to control a standard DC motor + * with an H-bridge using a PwmOut and 2 DigitalOuts + */ +class Motor { +public: + + /** Create a motor control interface + * + * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed + * @param fwd A DigitalOut, set high when the motor should go forward + * @param rev A DigitalOut, set high when the motor should go backwards + */ + Motor(PinName pwm, PinName fwd, PinName rev); + + /** Set the speed of the motor + * + * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 + */ + void speed(float speed); + + /** Set the period of the pwm duty cycle. + * + * Wrapper for PwmOut::period() + * + * @param seconds - Pwm duty cycle in seconds. + */ + void period(float period); + + /** Brake the H-bridge to GND or VCC. + * + * Defaults to breaking to VCC. + * + * Brake to GND => inA = inB = 0 + * Brake to VCC => inA = inB = 1 + */ + void brake(int highLow = BRAKE_HIGH); + + /** + *Brake lebih baik + **/ + void forcebrake(); + +protected: + PwmOut _pwm; + DigitalOut _fwd; + DigitalOut _rev; + +}; + +#endif