Diff: include/Drivers/vnh.hpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/Drivers/vnh.hpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,82 @@
+/**
+  ******************************************************************************
+  * @file    VNH.hpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-2017
+  * @brief   This file contains the class declaration for the VNH Bridge Driver
+  *          functionality.
+  ******************************************************************************
+ */
+
+/* Inclusion guard */
+#ifndef VNH_HPP
+#define VNH_HPP
+
+/* The mbed library */
+#include <mbed.h>
+/* Functions to compute common mathematical operations and transformations */
+#include <cmath>
+
+namespace drivers{
+    // ! Current getter interface
+    class ICurrentGetter{
+        public:
+            virtual float GetCurrent(void)=0;
+    };
+
+    /**
+     * @brief Command setter interface.
+     * 
+     */
+    class ICommandSetter{
+        public:
+            virtual void Run(float pwm);
+    };
+
+    //!  VNH class. 
+    /*! 
+    *  It is used for implementing motor bridge control.
+    * */
+    class VNH:public ICurrentGetter, public ICommandSetter
+    {
+    public:
+        /* Constructor */
+        VNH(PinName, PinName, PinName, PinName);
+        /* Destructor */
+        ~VNH();
+        /* Start */
+        void Start(void);
+        /* Stop */
+        void Stop(void);
+        /* Run */
+        void Run(float speed);
+        /* Brake */
+        void Brake();
+        /* Inverse */
+        void Inverse(float f_speed);
+        /* Get current */
+        float GetCurrent(void);
+        
+    private:
+        /* Go current */
+        void Go(float speed);
+        /* increment member */
+        float increment;
+        /* current speed member */
+        float current_speed;
+        /* PWM */
+        PwmOut      pwm;
+        /* pin A */
+        DigitalOut  ina;
+        /* pin B */
+        DigitalOut  inb;
+        /* current value */
+        AnalogIn    current;
+    };
+
+
+}; // namespace drivers
+
+
+#endif