Yuta Togashi
/
motorDrive_SMB
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Dependents: Tourobo2022_TBCMotorDriver
Diff: motorDrive_SMB.cpp
- Revision:
- 0:db4f58345725
- Child:
- 1:30665f088188
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motorDrive_SMB.cpp Wed Mar 25 09:22:53 2020 +0000
@@ -0,0 +1,30 @@
+#include "motorDrive_SMB.h"
+
+motorDriveSMB::motorDriveSMB (PinName PwmH,PinName Phase) : pwmh(PwmH),phase(Phase) {
+ lowerLimitDuty = -1.0f;
+ upperLimitDuty = 1.0f;
+}
+
+void motorDriveSMB::setupFrequency(float frequency) {
+ pwmh.period(1.0f / frequency);
+}
+
+void motorDriveSMB::setupLimitDuty(float lowerLimit,float upperLimit) {
+ lowerLimitDuty = lowerLimit;
+ upperLimitDuty = upperLimit;
+}
+
+void motorDriveSMB::output(float duty) {
+ if(duty > 0.0f) {
+ if(duty > upperLimitDuty) duty = upperLimitDuty;
+ pwmh.write(fabs(duty));
+ phase.write(false);
+ } else if(duty < 0.0f){
+ if(duty < lowerLimitDuty) duty = lowerLimitDuty;
+ pwmh.write(fabs(duty));
+ phase.write(true);
+ } else {
+ pwmh.write(0.0f);
+ phase.write(false);
+ }
+}
\ No newline at end of file