Diff: src/Drivers/vnh.cpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Drivers/vnh.cpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,135 @@
+/**
+  ******************************************************************************
+  * @file    VNH.cpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-2017
+  * @brief   This file contains the class defoinition for the VNH Bridge Driver
+  *          functionality.
+  ******************************************************************************
+ */
+
+#include <Drivers/vnh.hpp>
+
+
+namespace drivers{
+
+
+
+    /**  @brief  VNH class constructor
+     *
+     *  Constructor method
+     *
+     *  @param _pwm      PWM pin
+     *  @param _ina      pin A
+     *  @param _inb      pin B
+     *  @param _current  current analog pin
+     */
+    VNH::VNH(PinName _pwm, PinName _ina, PinName _inb, PinName _current)
+        :pwm(_pwm)
+        ,ina(_ina)
+        ,inb(_inb)
+        ,current(_current)
+    {  
+        pwm.period_us(200);   
+        increment = 0.01;
+        current_speed = 0;
+    }
+
+    /**  @brief  VNH class destructor
+     *
+     *  Destructor method
+     *
+     *   
+     */
+    VNH::~VNH()
+    {
+    }
+
+    /**  @brief  Start method
+     *
+     *   
+     *   
+     */
+    void VNH::Start(void)
+    {
+        ina = !inb;
+        pwm.write(0);
+    }
+
+    /**  @brief  Stop method
+     *
+     *   
+     *   
+     */
+    void VNH::Stop(void)
+    {
+        ina = inb;
+    }
+
+    /**  @brief  Run method
+     *
+     *  @param speed    speed value
+     *   
+     */
+    void VNH::Run(float speed)
+    {
+        Go(speed);
+    }
+
+    /**  @brief  Get current method
+     *
+     *   
+     *  \return    Current value
+     */
+    float VNH::GetCurrent(void)
+    {
+        return (current.read()) * 5 / 0.14;
+    }
+
+    /**  @brief  Go method
+     *
+     *  @param speed    speed value
+     *   
+     */
+    void VNH::Go(float speed)
+    {
+        //pwm.write(abs(speed));
+        if (speed < 0)
+        {
+            ina = 0;
+            inb = 1;
+        }
+        else
+        {
+            ina = 1;
+            inb = 0;
+        } 
+        pwm =std::abs(speed);
+    }
+
+    /**  @brief  Inverse method
+     *
+     *  @param f_speed  speed value
+     *   
+     */
+    void VNH::Inverse(float f_speed)
+    {
+        ina=!ina;
+        inb=!inb;
+        pwm =std::abs(f_speed);
+    }
+
+    /**  @brief  Brake method
+     *
+     *   
+     *   
+     */
+    void VNH::Brake()
+    {
+        ina.write(0);
+        inb.write(0);
+        pwm.write(100.0);
+    }
+
+}; // namespace drivers