Diff: MotorShield.cpp

Revision:

1:4c3c2b7337a6

Parent:

0:f2ede00aed8a

Child:

3:2f46953e7c8b

--- a/MotorShield.cpp	Mon Aug 24 20:19:03 2020 +0000
+++ b/MotorShield.cpp	Tue Aug 25 23:38:26 2020 +0000
@@ -4,17 +4,24 @@
 
 #include "mbed.h"
 #include "MotorShield.h"
-#include "FastPWM.h" 
+#include "HardwareSetup.h"
+
+//GPIOStruct gpio;
 
 MotorShield::MotorShield(PinName forwardPin, PinName reversePin) {
-    
-    FastPWM forward(forwardPin, 1);
-    FastPWM reverse(reversePin, 1);
+
     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);
+        
     direction_val = 0;
     duty_cycle_val = 0;
     period_val = 10.0; 
@@ -38,16 +45,16 @@
 
 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);
+        //forward.period_us(period_val);
+        //forward.write(duty_cycle_val);
+        //reverse.period_us(period_val);
+        //reverse.write(0);
     }
     else{
-        reverse.period_us(period_val);
-        reverse.write(duty_cycle_val);
-        forward.period_us(period_val);
-        forward.write(0);
+        //reverse.period_us(period_val);
+        //reverse.write(duty_cycle_val);
+        //forward.period_us(period_val);
+        //forward.write(0);
     }
 }