vnh.cpp

00001 /**
00002   ******************************************************************************
00003   * @file    VNH.cpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-2017
00007   * @brief   This file contains the class defoinition for the VNH Bridge Driver
00008   *          functionality.
00009   ******************************************************************************
00010  */
00011 
00012 #include <Drivers/vnh.hpp>
00013 
00014 
00015 namespace drivers{
00016 
00017 
00018 
00019     /**  @brief  VNH class constructor
00020      *
00021      *  Constructor method
00022      *
00023      *  @param _pwm      PWM pin
00024      *  @param _ina      pin A
00025      *  @param _inb      pin B
00026      *  @param _current  current analog pin
00027      */
00028     VNH::VNH(PinName _pwm, PinName _ina, PinName _inb, PinName _current)
00029         :pwm(_pwm)
00030         ,ina(_ina)
00031         ,inb(_inb)
00032         ,current(_current)
00033     {  
00034         pwm.period_us(200);   
00035         increment = 0.01;
00036         current_speed = 0;
00037     }
00038 
00039     /**  @brief  VNH class destructor
00040      *
00041      *  Destructor method
00042      *
00043      *   
00044      */
00045     VNH::~VNH()
00046     {
00047     }
00048 
00049     /**  @brief  Start method
00050      *
00051      *   
00052      *   
00053      */
00054     void VNH::Start(void)
00055     {
00056         ina = !inb;
00057         pwm.write(0);
00058     }
00059 
00060     /**  @brief  Stop method
00061      *
00062      *   
00063      *   
00064      */
00065     void VNH::Stop(void)
00066     {
00067         ina = inb;
00068     }
00069 
00070     /**  @brief  Run method
00071      *
00072      *  @param speed    speed value
00073      *   
00074      */
00075     void VNH::Run(float speed)
00076     {
00077         Go(speed);
00078     }
00079 
00080     /**  @brief  Get current method
00081      *
00082      *   
00083      *  \return    Current value
00084      */
00085     float VNH::GetCurrent(void)
00086     {
00087         return (current.read()) * 5 / 0.14;
00088     }
00089 
00090     /**  @brief  Go method
00091      *
00092      *  @param speed    speed value
00093      *   
00094      */
00095     void VNH::Go(float speed)
00096     {
00097         //pwm.write(abs(speed));
00098         if (speed < 0)
00099         {
00100             ina = 0;
00101             inb = 1;
00102         }
00103         else
00104         {
00105             ina = 1;
00106             inb = 0;
00107         } 
00108         pwm =std::abs(speed);
00109     }
00110 
00111     /**  @brief  Inverse method
00112      *
00113      *  @param f_speed  speed value
00114      *   
00115      */
00116     void VNH::Inverse(float f_speed)
00117     {
00118         ina=!ina;
00119         inb=!inb;
00120         pwm =std::abs(f_speed);
00121     }
00122 
00123     /**  @brief  Brake method
00124      *
00125      *   
00126      *   
00127      */
00128     void VNH::Brake()
00129     {
00130         ina.write(0);
00131         inb.write(0);
00132         pwm.write(100.0);
00133     }
00134 
00135 }; // namespace drivers