Diff: HBridge.cpp

Revision:

4:5ae9f8b3a16f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HBridge.cpp	Tue Nov 24 03:56:22 2015 +0000
@@ -0,0 +1,24 @@
+#include "HBridge.h"
+
+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) {
+    pwm_pin_.period(pwm_period);
+}
+
+//Input of -1 means full reverse, 1 means full forward
+//An input of magnitude > 1 gets reduced to 1 (or -1) by the pwm.write function
+void HBridge::set_output(float output) {
+    this->output = output;
+    if (output > 0) {
+        min_1_pin_.write(0);
+        min_2_pin_.write(1);
+        pwm_pin_.write(output);
+    } else if (output < 0) {
+        min_1_pin_.write(1);
+        min_2_pin_.write(0);
+        pwm_pin_.write(output * -1);
+    } else {
+        min_1_pin_.write(0);
+        min_2_pin_.write(0);
+        pwm_pin_.write(0.0);
+    }
+}
\ No newline at end of file