vnh.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    VNH.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-2017
00007   * @brief   This file contains the class declaration for the VNH Bridge Driver
00008   *          functionality.
00009   ******************************************************************************
00010  */
00011 
00012 /* Inclusion guard */
00013 #ifndef VNH_HPP
00014 #define VNH_HPP
00015 
00016 /* The mbed library */
00017 #include <mbed.h>
00018 /* Functions to compute common mathematical operations and transformations */
00019 #include <cmath>
00020 
00021 namespace drivers{
00022     // ! Current getter interface
00023     class ICurrentGetter{
00024         public:
00025             virtual float GetCurrent(void)=0;
00026     };
00027 
00028     /**
00029      * @brief Command setter interface.
00030      * 
00031      */
00032     class ICommandSetter{
00033         public:
00034             virtual void Run(float pwm);
00035     };
00036 
00037     //!  VNH class. 
00038     /*! 
00039     *  It is used for implementing motor bridge control.
00040     * */
00041     class VNH:public ICurrentGetter, public ICommandSetter
00042     {
00043     public:
00044         /* Constructor */
00045         VNH(PinName, PinName, PinName, PinName);
00046         /* Destructor */
00047         ~VNH();
00048         /* Start */
00049         void Start(void);
00050         /* Stop */
00051         void Stop(void);
00052         /* Run */
00053         void Run(float speed);
00054         /* Brake */
00055         void Brake();
00056         /* Inverse */
00057         void Inverse(float f_speed);
00058         /* Get current */
00059         float GetCurrent(void);
00060         
00061     private:
00062         /* Go current */
00063         void Go(float speed);
00064         /* increment member */
00065         float increment;
00066         /* current speed member */
00067         float current_speed;
00068         /* PWM */
00069         PwmOut      pwm;
00070         /* pin A */
00071         DigitalOut  ina;
00072         /* pin B */
00073         DigitalOut  inb;
00074         /* current value */
00075         AnalogIn    current;
00076     };
00077 
00078 
00079 }; // namespace drivers
00080 
00081 
00082 #endif