Control a DC motor via a standard H-bridge using a PwmOut pin to control speed and two DigitalOut pins to control direction. Can change pwm period on the PwmOut pin, and also brake high or low.
Dependents: SimpleRover PIDRover IMURover incrementalencoder-pid-robot ... more
Diff: Motor.h
- Revision:
- 1:c75b234558af
- Parent:
- 0:f05e09f8f5d9
--- a/Motor.h Thu Sep 02 16:32:57 2010 +0000 +++ b/Motor.h Tue Sep 07 11:21:42 2010 +0000 @@ -25,6 +25,9 @@ #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 */ @@ -52,6 +55,15 @@ * @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); protected: PwmOut _pwm;