File content as of revision 0:f2ede00aed8a:

/* 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);
    }
}