Diff: MotorShield.cpp

Revision:

0:f2ede00aed8a

Child:

1:4c3c2b7337a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorShield.cpp	Mon Aug 24 20:19:03 2020 +0000
@@ -0,0 +1,53 @@
+/* Library to interface with 2.74 Motor Shield
+** Uses a modified version of FastPWM library to improve PWM accuracy 
+*/
+
+#include "mbed.h"
+#include "MotorShield.h"
+#include "FastPWM.h" 
+
+MotorShield::MotorShield(PinName forwardPin, PinName reversePin) {
+    
+    FastPWM forward(forwardPin, 1);
+    FastPWM reverse(reversePin, 1);
+    init();
+}
+ 
+void MotorShield::init() {
+    /** Initial config for the STM32H743 **/
+    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::period(double period) {
+    period_val = period;
+    writePWM();
+}
+
+void MotorShield::direction(int direction) {
+    direction_val = direction;
+    writePWM();
+}
+
+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);
+    }
+    else{
+        reverse.period_us(period_val);
+        reverse.write(duty_cycle_val);
+        forward.period_us(period_val);
+        forward.write(0);
+    }
+}
+