Yuta Togashi / motorDrive_SMB

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Dependents:   Tourobo2022_TBCMotorDriver

motorDrive_SMB.cpp

Committer:
YutaTogashi
Date:
2020-03-25
Revision:
0:db4f58345725
Child:
1:30665f088188

File content as of revision 0:db4f58345725:

#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);
    }
}