Austin Buchan
Decoupled position and current control working.
HBridge.cpp@4:5ae9f8b3a16f, 2015-11-24 (annotated)
- Committer:
- abuchan
- Date:
- Tue Nov 24 03:56:22 2015 +0000
- Revision:
- 4:5ae9f8b3a16f
Decoupled position and current control working.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| abuchan | 4:5ae9f8b3a16f | 1 | #include "HBridge.h" |
| abuchan | 4:5ae9f8b3a16f | 2 | |
| abuchan | 4:5ae9f8b3a16f | 3 | HBridge::HBridge(PinName pwm_pin, PinName min_1_pin, PinName min_2_pin, float pwm_period): pwm_pin_(pwm_pin), min_1_pin_(min_1_pin), min_2_pin_(min_2_pin) { |
| abuchan | 4:5ae9f8b3a16f | 4 | pwm_pin_.period(pwm_period); |
| abuchan | 4:5ae9f8b3a16f | 5 | } |
| abuchan | 4:5ae9f8b3a16f | 6 | |
| abuchan | 4:5ae9f8b3a16f | 7 | //Input of -1 means full reverse, 1 means full forward |
| abuchan | 4:5ae9f8b3a16f | 8 | //An input of magnitude > 1 gets reduced to 1 (or -1) by the pwm.write function |
| abuchan | 4:5ae9f8b3a16f | 9 | void HBridge::set_output(float output) { |
| abuchan | 4:5ae9f8b3a16f | 10 | this->output = output; |
| abuchan | 4:5ae9f8b3a16f | 11 | if (output > 0) { |
| abuchan | 4:5ae9f8b3a16f | 12 | min_1_pin_.write(0); |
| abuchan | 4:5ae9f8b3a16f | 13 | min_2_pin_.write(1); |
| abuchan | 4:5ae9f8b3a16f | 14 | pwm_pin_.write(output); |
| abuchan | 4:5ae9f8b3a16f | 15 | } else if (output < 0) { |
| abuchan | 4:5ae9f8b3a16f | 16 | min_1_pin_.write(1); |
| abuchan | 4:5ae9f8b3a16f | 17 | min_2_pin_.write(0); |
| abuchan | 4:5ae9f8b3a16f | 18 | pwm_pin_.write(output * -1); |
| abuchan | 4:5ae9f8b3a16f | 19 | } else { |
| abuchan | 4:5ae9f8b3a16f | 20 | min_1_pin_.write(0); |
| abuchan | 4:5ae9f8b3a16f | 21 | min_2_pin_.write(0); |
| abuchan | 4:5ae9f8b3a16f | 22 | pwm_pin_.write(0.0); |
| abuchan | 4:5ae9f8b3a16f | 23 | } |
| abuchan | 4:5ae9f8b3a16f | 24 | } |