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
Motor.cpp
00001 /* mbed simple H-bridge motor controller 00002 * Copyright (c) 2007-2010, sford 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 */ 00022 00023 #include "Motor.h" 00024 00025 Motor::Motor(PinName pwm, PinName fwd, PinName rev): 00026 _pwm(pwm), _fwd(fwd), _rev(rev) { 00027 00028 // Set initial condition of PWM 00029 _pwm.period(0.001); 00030 _pwm = 0; 00031 00032 // Initial condition of output enables 00033 _fwd = 0; 00034 _rev = 0; 00035 } 00036 00037 void Motor::speed(float speed) { 00038 _fwd = (speed > 0.0); 00039 _rev = (speed < 0.0); 00040 _pwm = abs(speed); 00041 } 00042 00043 void Motor::period(float period){ 00044 00045 _pwm.period(period); 00046 00047 } 00048 00049 void Motor::brake(int highLow){ 00050 00051 if(highLow == BRAKE_HIGH){ 00052 _fwd = 1; 00053 _rev = 1; 00054 } 00055 else if(highLow == BRAKE_LOW){ 00056 _fwd = 0; 00057 _rev = 0; 00058 } 00059 00060 }
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