Diff: MotorShield.cpp

Revision:

3:2f46953e7c8b

Parent:

1:4c3c2b7337a6

Child:

4:2b45973bdc67

--- a/MotorShield.cpp	Wed Aug 26 00:24:51 2020 +0000
+++ b/MotorShield.cpp	Wed Aug 26 02:43:57 2020 +0000
@@ -1,60 +1,70 @@
 /* Library to interface with 2.74 Motor Shield
-** Uses a modified version of FastPWM library to improve PWM accuracy 
+** Uses low level HAL libraries to enable high speed PWM 
 */
 
 #include "mbed.h"
 #include "MotorShield.h"
 #include "HardwareSetup.h"
 
-//GPIOStruct gpio;
-
-MotorShield::MotorShield(PinName forwardPin, PinName reversePin) {
-
+MotorShield::MotorShield(int periodTicks) {
+    periodTickVal = periodTicks; 
     init();
 }
  
 void MotorShield::init() {
     /** Initial config for the STM32H743 **/
     
-    //Init_All_HW(&gpio);                                                         // Setup PWM, ADC, GPIO
-    //wait_us(100);
-    
-    //TIM12->CCR2 = (PWM_ARR>>1)*(0.5f);
-    //TIM12->CCR1 = (PWM_ARR>>1)*(0.5f);
+    initHardware(periodTickVal);   // Setup PWM
+    wait_us(100);
         
-    direction_val = 0;
-    duty_cycle_val = 0;
-    period_val = 10.0; 
-    
 }
  
-void MotorShield::write(double duty_cycle) {
-    duty_cycle_val = duty_cycle;
-    writePWM();
+void MotorShield::motorAWrite(double duty_cycle, int direction) {
+    if (direction){
+            TIM12->CCR2 = int(periodTickVal * duty_cycle);
+            TIM12->CCR1 = 0;
+    }
+    else {
+            TIM12->CCR2 = 0;
+            TIM12->CCR1 = int(periodTickVal * duty_cycle);
+    }
+    
 }
 
-void MotorShield::period(double period) {
-    period_val = period;
-    writePWM();
-}
-
-void MotorShield::direction(int direction) {
-    direction_val = direction;
-    writePWM();
+void MotorShield::motorBWrite(double duty_cycle, int direction) {
+    if (direction){
+            TIM15->CCR2 = int(periodTickVal * duty_cycle);
+            TIM15->CCR1 = 0;
+    }
+    else {
+            TIM15->CCR2 = 0;
+            TIM15->CCR1 = int(periodTickVal * duty_cycle);
+    }
 }
 
-void MotorShield::writePWM(){
-    if (direction_val == 0){
-        //forward.period_us(period_val);
-        //forward.write(duty_cycle_val);
-        //reverse.period_us(period_val);
-        //reverse.write(0);
+void MotorShield::motorCWrite(double duty_cycle, int direction) {
+    if (direction){
+            TIM13->CCR1 = int(periodTickVal * duty_cycle);
+            TIM14->CCR1 = 0;
     }
-    else{
-        //reverse.period_us(period_val);
-        //reverse.write(duty_cycle_val);
-        //forward.period_us(period_val);
-        //forward.write(0);
+    else {
+            TIM13->CCR1 = 0;
+            TIM14->CCR1 = int(periodTickVal * duty_cycle);
     }
 }
- 
+void MotorShield::motorDWrite(double duty_cycle, int direction) {
+    if (direction){
+            TIM16->CCR1 = int(periodTickVal * duty_cycle);
+            TIM17->CCR1 = 0;
+    }
+    else {
+            TIM16->CCR1 = 0;
+            TIM17->CCR1 = int(periodTickVal * duty_cycle);
+    }
+}
+
+void MotorShield::changePeriod(int periodTicks){
+    periodTickVal = periodTicks; 
+    init();
+}
+