Bruce Bohn / Mbed 2 deprecated LVH-bridge-Eval-17510

Code for Freescale Low Voltage H-bridge single brushed DC motor driver. Compatible with FRDM-KL25Z

Dependencies:   USBDevice mbed

main.cpp@0:5eb83c1d4b2e, 2014-11-06 (annotated)

Committer:
bdbohn
Date:
Thu Nov 06 19:09:46 2014 +0000
Revision:
0:5eb83c1d4b2e
Initial Release 11-06-14

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bdbohn 0:5eb83c1d4b2e 1 #include "mbed.h"
bdbohn 0:5eb83c1d4b2e 2 #include "USBHID.h"
bdbohn 0:5eb83c1d4b2e 3
bdbohn 0:5eb83c1d4b2e 4 // We declare a USBHID device.
bdbohn 0:5eb83c1d4b2e 5 // HID In/Out Reports are 64 Bytes long
bdbohn 0:5eb83c1d4b2e 6 // Vendor ID (VID): 0x15A2
bdbohn 0:5eb83c1d4b2e 7 // Product ID (PID): 0x0138
bdbohn 0:5eb83c1d4b2e 8 // Serial Number: 0x0001
bdbohn 0:5eb83c1d4b2e 9 USBHID hid(64, 64, 0x15A2, 0x0138, 0x0001, true);
bdbohn 0:5eb83c1d4b2e 10
bdbohn 0:5eb83c1d4b2e 11 //Setup Digital Outputs for the LEDs on the FRDM
bdbohn 0:5eb83c1d4b2e 12 DigitalOut red_led(LED1);
bdbohn 0:5eb83c1d4b2e 13 DigitalOut green_led(LED2);
bdbohn 0:5eb83c1d4b2e 14 DigitalOut blue_led(LED3);
bdbohn 0:5eb83c1d4b2e 15
bdbohn 0:5eb83c1d4b2e 16 //Setup PWM and Digital Outputs from FRDM-KL25Z to FRDM-17510
bdbohn 0:5eb83c1d4b2e 17 PwmOut IN1(PTD4); // Pin IN1 input to MPC17510 (FRDM PIN Name)
bdbohn 0:5eb83c1d4b2e 18 PwmOut IN2(PTA12); // Pin IN2 input to MPC17510 (FRDM PIN Name)
bdbohn 0:5eb83c1d4b2e 19 DigitalOut EN(PTC7); // Pin EN input to MPC17510 (FRDM PIN Name)
bdbohn 0:5eb83c1d4b2e 20 DigitalOut GINB(PTC0); // Pin GIN_B input to MPC17510 (FRDM PIN Name)
bdbohn 0:5eb83c1d4b2e 21 DigitalOut READY(PTC5); // Pin READY input to Motor Control Board (FRDM PIN Name)
bdbohn 0:5eb83c1d4b2e 22
bdbohn 0:5eb83c1d4b2e 23 //Variables
bdbohn 0:5eb83c1d4b2e 24 int pwm_freq_lo;
bdbohn 0:5eb83c1d4b2e 25 int pwm_freq_hi;
bdbohn 0:5eb83c1d4b2e 26 int frequencyHz;
bdbohn 0:5eb83c1d4b2e 27 int storedFreq;
bdbohn 0:5eb83c1d4b2e 28 int storedDuty;
bdbohn 0:5eb83c1d4b2e 29 int runstop = 0;
bdbohn 0:5eb83c1d4b2e 30 int runStopChange;
bdbohn 0:5eb83c1d4b2e 31 int direction = 1;
bdbohn 0:5eb83c1d4b2e 32 int directionChange;
bdbohn 0:5eb83c1d4b2e 33 int braking;
bdbohn 0:5eb83c1d4b2e 34 int brakingChange;
bdbohn 0:5eb83c1d4b2e 35 int dutycycle;
bdbohn 0:5eb83c1d4b2e 36 int motorState = 0;
bdbohn 0:5eb83c1d4b2e 37 int ramptime = 0;
bdbohn 0:5eb83c1d4b2e 38
bdbohn 0:5eb83c1d4b2e 39 //storage for send and receive data
bdbohn 0:5eb83c1d4b2e 40 HID_REPORT send_report;
bdbohn 0:5eb83c1d4b2e 41 HID_REPORT recv_report;
bdbohn 0:5eb83c1d4b2e 42
bdbohn 0:5eb83c1d4b2e 43 bool initflag = true;
bdbohn 0:5eb83c1d4b2e 44
bdbohn 0:5eb83c1d4b2e 45 // USB COMMANDS
bdbohn 0:5eb83c1d4b2e 46 // These are sent from the PC
bdbohn 0:5eb83c1d4b2e 47 #define WRITE_LED 0x20
bdbohn 0:5eb83c1d4b2e 48 #define WRITE_GEN_EN 0x40
bdbohn 0:5eb83c1d4b2e 49 #define WRITE_DUTY_CYCLE 0x50
bdbohn 0:5eb83c1d4b2e 50 #define WRITE_PWM_FREQ 0x60
bdbohn 0:5eb83c1d4b2e 51 #define WRITE_RUN_STOP 0x70
bdbohn 0:5eb83c1d4b2e 52 #define WRITE_DIRECTION 0x71
bdbohn 0:5eb83c1d4b2e 53 #define WRITE_BRAKING 0x90
bdbohn 0:5eb83c1d4b2e 54 #define WRITE_RESET 0xA0
bdbohn 0:5eb83c1d4b2e 55
bdbohn 0:5eb83c1d4b2e 56
bdbohn 0:5eb83c1d4b2e 57 // MOTOR STATES
bdbohn 0:5eb83c1d4b2e 58 #define STOP 0x00
bdbohn 0:5eb83c1d4b2e 59 #define RUN 0x02
bdbohn 0:5eb83c1d4b2e 60 #define RESET 0x05
bdbohn 0:5eb83c1d4b2e 61
bdbohn 0:5eb83c1d4b2e 62 // LED CONSTANTS
bdbohn 0:5eb83c1d4b2e 63 #define LEDS_OFF 0x00
bdbohn 0:5eb83c1d4b2e 64 #define RED 0x01
bdbohn 0:5eb83c1d4b2e 65 #define GREEN 0x02
bdbohn 0:5eb83c1d4b2e 66 #define BLUE 0x03
bdbohn 0:5eb83c1d4b2e 67 #define READY_LED 0x04
bdbohn 0:5eb83c1d4b2e 68
bdbohn 0:5eb83c1d4b2e 69 // LOGICAL CONSTANTS
bdbohn 0:5eb83c1d4b2e 70 #define OFF 0x00
bdbohn 0:5eb83c1d4b2e 71 #define ON 0x01
bdbohn 0:5eb83c1d4b2e 72
bdbohn 0:5eb83c1d4b2e 73 //Functions
bdbohn 0:5eb83c1d4b2e 74 void set_PWM_Freq(int freq);
bdbohn 0:5eb83c1d4b2e 75 void set_Duty_Cycle(int dutycycle);
bdbohn 0:5eb83c1d4b2e 76
bdbohn 0:5eb83c1d4b2e 77
bdbohn 0:5eb83c1d4b2e 78 int main()
bdbohn 0:5eb83c1d4b2e 79 {
bdbohn 0:5eb83c1d4b2e 80 send_report.length = 64;
bdbohn 0:5eb83c1d4b2e 81 recv_report.length = 64;
bdbohn 0:5eb83c1d4b2e 82
bdbohn 0:5eb83c1d4b2e 83 red_led = 1; // Red LED = OFF
bdbohn 0:5eb83c1d4b2e 84 green_led = 1; // Green LED = OFF
bdbohn 0:5eb83c1d4b2e 85 blue_led = 0; // Blue LED = ON
bdbohn 0:5eb83c1d4b2e 86
bdbohn 0:5eb83c1d4b2e 87 motorState = RESET;
bdbohn 0:5eb83c1d4b2e 88 initflag = true;
bdbohn 0:5eb83c1d4b2e 89
bdbohn 0:5eb83c1d4b2e 90 IN1.period(1); //initially set period to 1 second
bdbohn 0:5eb83c1d4b2e 91 IN2.period(1);
bdbohn 0:5eb83c1d4b2e 92
bdbohn 0:5eb83c1d4b2e 93 IN1.write(0); //set PWM percentage to 0
bdbohn 0:5eb83c1d4b2e 94 IN2.write(0);
bdbohn 0:5eb83c1d4b2e 95
bdbohn 0:5eb83c1d4b2e 96
bdbohn 0:5eb83c1d4b2e 97 while(1)
bdbohn 0:5eb83c1d4b2e 98 {
bdbohn 0:5eb83c1d4b2e 99 //try to read a msg
bdbohn 0:5eb83c1d4b2e 100 if(hid.readNB(&recv_report))
bdbohn 0:5eb83c1d4b2e 101 {
bdbohn 0:5eb83c1d4b2e 102 if(initflag == true)
bdbohn 0:5eb83c1d4b2e 103 {
bdbohn 0:5eb83c1d4b2e 104 initflag = false;
bdbohn 0:5eb83c1d4b2e 105 blue_led = 1; //turn off blue LED
bdbohn 0:5eb83c1d4b2e 106 }
bdbohn 0:5eb83c1d4b2e 107 switch(recv_report.data[0]) //byte 0 of recv_report.data is command
bdbohn 0:5eb83c1d4b2e 108 {
bdbohn 0:5eb83c1d4b2e 109 //-----------------------------------------------------------------------------------------------------------------
bdbohn 0:5eb83c1d4b2e 110 // COMMAND PARSER
bdbohn 0:5eb83c1d4b2e 111 //-----------------------------------------------------------------------------------------------------------------
bdbohn 0:5eb83c1d4b2e 112 ////////
bdbohn 0:5eb83c1d4b2e 113 case WRITE_LED:
bdbohn 0:5eb83c1d4b2e 114 switch(recv_report.data[1])
bdbohn 0:5eb83c1d4b2e 115 {
bdbohn 0:5eb83c1d4b2e 116 case LEDS_OFF:
bdbohn 0:5eb83c1d4b2e 117 red_led = 1;
bdbohn 0:5eb83c1d4b2e 118 green_led = 1;
bdbohn 0:5eb83c1d4b2e 119 blue_led = 1;
bdbohn 0:5eb83c1d4b2e 120 break;
bdbohn 0:5eb83c1d4b2e 121 case RED:
bdbohn 0:5eb83c1d4b2e 122 if(recv_report.data[2] == 1){red_led = 0;} else {red_led = 1;}
bdbohn 0:5eb83c1d4b2e 123 break;
bdbohn 0:5eb83c1d4b2e 124 case GREEN:
bdbohn 0:5eb83c1d4b2e 125 if(recv_report.data[2] == 1){green_led = 0;} else {green_led = 1;}
bdbohn 0:5eb83c1d4b2e 126 break;
bdbohn 0:5eb83c1d4b2e 127 case BLUE:
bdbohn 0:5eb83c1d4b2e 128 if(recv_report.data[2] == 1){blue_led = 0;} else {blue_led = 1;}
bdbohn 0:5eb83c1d4b2e 129 break;
bdbohn 0:5eb83c1d4b2e 130 default:
bdbohn 0:5eb83c1d4b2e 131 break;
bdbohn 0:5eb83c1d4b2e 132
bdbohn 0:5eb83c1d4b2e 133
bdbohn 0:5eb83c1d4b2e 134 }// End recv report data[1]
bdbohn 0:5eb83c1d4b2e 135 break;
bdbohn 0:5eb83c1d4b2e 136 ////////
bdbohn 0:5eb83c1d4b2e 137
bdbohn 0:5eb83c1d4b2e 138 ////////
bdbohn 0:5eb83c1d4b2e 139 case WRITE_DUTY_CYCLE:
bdbohn 0:5eb83c1d4b2e 140 dutycycle = recv_report.data[1];
bdbohn 0:5eb83c1d4b2e 141 set_Duty_Cycle(dutycycle);
bdbohn 0:5eb83c1d4b2e 142 break;
bdbohn 0:5eb83c1d4b2e 143 ////////
bdbohn 0:5eb83c1d4b2e 144 case WRITE_PWM_FREQ: //PWM frequency can be larger than 1 byte
bdbohn 0:5eb83c1d4b2e 145 pwm_freq_lo = recv_report.data[1]; //so we have to re-assemble the number
bdbohn 0:5eb83c1d4b2e 146 pwm_freq_hi = recv_report.data[2] * 100;
bdbohn 0:5eb83c1d4b2e 147 frequencyHz = pwm_freq_lo + pwm_freq_hi;
bdbohn 0:5eb83c1d4b2e 148 set_PWM_Freq(frequencyHz);
bdbohn 0:5eb83c1d4b2e 149 break;
bdbohn 0:5eb83c1d4b2e 150 ////////
bdbohn 0:5eb83c1d4b2e 151 case WRITE_RUN_STOP:
bdbohn 0:5eb83c1d4b2e 152 if(recv_report.data[1] == 1)
bdbohn 0:5eb83c1d4b2e 153 {
bdbohn 0:5eb83c1d4b2e 154 if(runstop != 1)
bdbohn 0:5eb83c1d4b2e 155 {
bdbohn 0:5eb83c1d4b2e 156 red_led = 1;
bdbohn 0:5eb83c1d4b2e 157 blue_led = 1;
bdbohn 0:5eb83c1d4b2e 158 green_led = 0;
bdbohn 0:5eb83c1d4b2e 159 READY = 1;
bdbohn 0:5eb83c1d4b2e 160 runstop = 1;
bdbohn 0:5eb83c1d4b2e 161 runStopChange = 1;
bdbohn 0:5eb83c1d4b2e 162 motorState = RUN;
bdbohn 0:5eb83c1d4b2e 163 frequencyHz = storedFreq;
bdbohn 0:5eb83c1d4b2e 164 set_PWM_Freq(frequencyHz);
bdbohn 0:5eb83c1d4b2e 165 dutycycle = storedDuty;
bdbohn 0:5eb83c1d4b2e 166 set_Duty_Cycle(dutycycle);
bdbohn 0:5eb83c1d4b2e 167 }
bdbohn 0:5eb83c1d4b2e 168
bdbohn 0:5eb83c1d4b2e 169 }
bdbohn 0:5eb83c1d4b2e 170 else
bdbohn 0:5eb83c1d4b2e 171 {
bdbohn 0:5eb83c1d4b2e 172 if(runstop != 0)
bdbohn 0:5eb83c1d4b2e 173 {
bdbohn 0:5eb83c1d4b2e 174 runstop = 0;
bdbohn 0:5eb83c1d4b2e 175 runStopChange = 1;
bdbohn 0:5eb83c1d4b2e 176 motorState = STOP;
bdbohn 0:5eb83c1d4b2e 177 red_led = 0;
bdbohn 0:5eb83c1d4b2e 178 green_led = 1;
bdbohn 0:5eb83c1d4b2e 179 blue_led = 1;
bdbohn 0:5eb83c1d4b2e 180 storedFreq = frequencyHz;
bdbohn 0:5eb83c1d4b2e 181 storedDuty = dutycycle;
bdbohn 0:5eb83c1d4b2e 182 READY = 0;
bdbohn 0:5eb83c1d4b2e 183 }
bdbohn 0:5eb83c1d4b2e 184 }
bdbohn 0:5eb83c1d4b2e 185 break;
bdbohn 0:5eb83c1d4b2e 186 ////////
bdbohn 0:5eb83c1d4b2e 187 case WRITE_DIRECTION:
bdbohn 0:5eb83c1d4b2e 188
bdbohn 0:5eb83c1d4b2e 189
bdbohn 0:5eb83c1d4b2e 190 if(recv_report.data[1] == 1)
bdbohn 0:5eb83c1d4b2e 191 {
bdbohn 0:5eb83c1d4b2e 192 if(direction != 1)
bdbohn 0:5eb83c1d4b2e 193 {
bdbohn 0:5eb83c1d4b2e 194 direction = 1;
bdbohn 0:5eb83c1d4b2e 195 directionChange = 1;
bdbohn 0:5eb83c1d4b2e 196 }
bdbohn 0:5eb83c1d4b2e 197 }
bdbohn 0:5eb83c1d4b2e 198 else
bdbohn 0:5eb83c1d4b2e 199 {
bdbohn 0:5eb83c1d4b2e 200 if(direction != 0)
bdbohn 0:5eb83c1d4b2e 201 {
bdbohn 0:5eb83c1d4b2e 202 direction = 0;
bdbohn 0:5eb83c1d4b2e 203 directionChange = 1;
bdbohn 0:5eb83c1d4b2e 204 }
bdbohn 0:5eb83c1d4b2e 205 }
bdbohn 0:5eb83c1d4b2e 206 break;
bdbohn 0:5eb83c1d4b2e 207 ////////
bdbohn 0:5eb83c1d4b2e 208 case WRITE_BRAKING:
bdbohn 0:5eb83c1d4b2e 209 if(recv_report.data[1] == 1)
bdbohn 0:5eb83c1d4b2e 210 {
bdbohn 0:5eb83c1d4b2e 211 braking = 1;
bdbohn 0:5eb83c1d4b2e 212 }
bdbohn 0:5eb83c1d4b2e 213 else
bdbohn 0:5eb83c1d4b2e 214 {
bdbohn 0:5eb83c1d4b2e 215 braking = 0;
bdbohn 0:5eb83c1d4b2e 216 }
bdbohn 0:5eb83c1d4b2e 217 break;
bdbohn 0:5eb83c1d4b2e 218 ////////
bdbohn 0:5eb83c1d4b2e 219 default:
bdbohn 0:5eb83c1d4b2e 220 break;
bdbohn 0:5eb83c1d4b2e 221 }// End Switch recv report data[0]
bdbohn 0:5eb83c1d4b2e 222
bdbohn 0:5eb83c1d4b2e 223 //-----------------------------------------------------------------------------------------------------------------
bdbohn 0:5eb83c1d4b2e 224 // end command parser
bdbohn 0:5eb83c1d4b2e 225 //-----------------------------------------------------------------------------------------------------------------
bdbohn 0:5eb83c1d4b2e 226
bdbohn 0:5eb83c1d4b2e 227 send_report.data[0] = recv_report.data[0]; // Echo Command
bdbohn 0:5eb83c1d4b2e 228 send_report.data[1] = recv_report.data[1]; // Echo Subcommand 1
bdbohn 0:5eb83c1d4b2e 229 send_report.data[2] = recv_report.data[2]; // Echo Subcommand 2
bdbohn 0:5eb83c1d4b2e 230 send_report.data[3] = 0x00;
bdbohn 0:5eb83c1d4b2e 231 send_report.data[4] = 0x00;
bdbohn 0:5eb83c1d4b2e 232 send_report.data[5] = 0x00;
bdbohn 0:5eb83c1d4b2e 233 send_report.data[6] = 0x00;
bdbohn 0:5eb83c1d4b2e 234 send_report.data[7] = 0x00;
bdbohn 0:5eb83c1d4b2e 235
bdbohn 0:5eb83c1d4b2e 236 //Send the report
bdbohn 0:5eb83c1d4b2e 237 hid.send(&send_report);
bdbohn 0:5eb83c1d4b2e 238 }// End If(hid.readNB(&recv_report))
bdbohn 0:5eb83c1d4b2e 239 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bdbohn 0:5eb83c1d4b2e 240 //End of USB message handling
bdbohn 0:5eb83c1d4b2e 241 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bdbohn 0:5eb83c1d4b2e 242
bdbohn 0:5eb83c1d4b2e 243 //************************************************************************************************************************
bdbohn 0:5eb83c1d4b2e 244 // This is handling of PWM, braking, direction
bdbohn 0:5eb83c1d4b2e 245 //***********************************************************************************************************************/
bdbohn 0:5eb83c1d4b2e 246
bdbohn 0:5eb83c1d4b2e 247 switch (motorState)
bdbohn 0:5eb83c1d4b2e 248 {
bdbohn 0:5eb83c1d4b2e 249 case STOP:
bdbohn 0:5eb83c1d4b2e 250 READY = 0;
bdbohn 0:5eb83c1d4b2e 251
bdbohn 0:5eb83c1d4b2e 252 if(braking == 1)
bdbohn 0:5eb83c1d4b2e 253 {
bdbohn 0:5eb83c1d4b2e 254 EN = 0;
bdbohn 0:5eb83c1d4b2e 255 IN1.period(1);
bdbohn 0:5eb83c1d4b2e 256 IN2.period(1);
bdbohn 0:5eb83c1d4b2e 257 IN1.write(0);
bdbohn 0:5eb83c1d4b2e 258 IN2.write(0);
bdbohn 0:5eb83c1d4b2e 259 }
bdbohn 0:5eb83c1d4b2e 260 else
bdbohn 0:5eb83c1d4b2e 261 {
bdbohn 0:5eb83c1d4b2e 262 EN = 0;
bdbohn 0:5eb83c1d4b2e 263 IN1.period(1);
bdbohn 0:5eb83c1d4b2e 264 IN2.period(1);
bdbohn 0:5eb83c1d4b2e 265 IN1.write(0);
bdbohn 0:5eb83c1d4b2e 266 IN2.write(0);
bdbohn 0:5eb83c1d4b2e 267 EN = 1;
bdbohn 0:5eb83c1d4b2e 268 }
bdbohn 0:5eb83c1d4b2e 269 break;
bdbohn 0:5eb83c1d4b2e 270
bdbohn 0:5eb83c1d4b2e 271 case RUN:
bdbohn 0:5eb83c1d4b2e 272 if(runStopChange != 0)
bdbohn 0:5eb83c1d4b2e 273 {
bdbohn 0:5eb83c1d4b2e 274 READY = 1;
bdbohn 0:5eb83c1d4b2e 275 EN = 1;
bdbohn 0:5eb83c1d4b2e 276 directionChange = 0;
bdbohn 0:5eb83c1d4b2e 277 runStopChange = 0;
bdbohn 0:5eb83c1d4b2e 278 set_PWM_Freq(frequencyHz);
bdbohn 0:5eb83c1d4b2e 279 set_Duty_Cycle(dutycycle);
bdbohn 0:5eb83c1d4b2e 280 }
bdbohn 0:5eb83c1d4b2e 281 break;
bdbohn 0:5eb83c1d4b2e 282
bdbohn 0:5eb83c1d4b2e 283 case RESET:
bdbohn 0:5eb83c1d4b2e 284 IN1.write(0.0);
bdbohn 0:5eb83c1d4b2e 285 IN2.write(0.0);
bdbohn 0:5eb83c1d4b2e 286 IN1.period(0.0);
bdbohn 0:5eb83c1d4b2e 287 IN2.period(0.0);
bdbohn 0:5eb83c1d4b2e 288 runStopChange = false;
bdbohn 0:5eb83c1d4b2e 289 motorState = STOP;
bdbohn 0:5eb83c1d4b2e 290 break;
bdbohn 0:5eb83c1d4b2e 291
bdbohn 0:5eb83c1d4b2e 292 }// end switch motorState
bdbohn 0:5eb83c1d4b2e 293 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bdbohn 0:5eb83c1d4b2e 294 }// End While Loop
bdbohn 0:5eb83c1d4b2e 295 }// End Main
bdbohn 0:5eb83c1d4b2e 296
bdbohn 0:5eb83c1d4b2e 297
bdbohn 0:5eb83c1d4b2e 298 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bdbohn 0:5eb83c1d4b2e 299 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bdbohn 0:5eb83c1d4b2e 300
bdbohn 0:5eb83c1d4b2e 301 void set_PWM_Freq(int freq)
bdbohn 0:5eb83c1d4b2e 302 {
bdbohn 0:5eb83c1d4b2e 303 storedFreq = freq;
bdbohn 0:5eb83c1d4b2e 304 float period = 1.0/freq;
bdbohn 0:5eb83c1d4b2e 305
bdbohn 0:5eb83c1d4b2e 306 if(direction == 1)
bdbohn 0:5eb83c1d4b2e 307 {
bdbohn 0:5eb83c1d4b2e 308 IN1.period(period);
bdbohn 0:5eb83c1d4b2e 309 IN2.period(0.0);
bdbohn 0:5eb83c1d4b2e 310 }
bdbohn 0:5eb83c1d4b2e 311 else
bdbohn 0:5eb83c1d4b2e 312 {
bdbohn 0:5eb83c1d4b2e 313 IN1.period(0.0);
bdbohn 0:5eb83c1d4b2e 314 IN2.period(period);
bdbohn 0:5eb83c1d4b2e 315 }
bdbohn 0:5eb83c1d4b2e 316 }
bdbohn 0:5eb83c1d4b2e 317
bdbohn 0:5eb83c1d4b2e 318 void set_Duty_Cycle(int dc)
bdbohn 0:5eb83c1d4b2e 319 {
bdbohn 0:5eb83c1d4b2e 320 storedDuty = dc;
bdbohn 0:5eb83c1d4b2e 321 if(direction == 1)
bdbohn 0:5eb83c1d4b2e 322 {
bdbohn 0:5eb83c1d4b2e 323 red_led = 0;
bdbohn 0:5eb83c1d4b2e 324 green_led = 1;
bdbohn 0:5eb83c1d4b2e 325 IN1.write(float(dc/100.0));
bdbohn 0:5eb83c1d4b2e 326 IN2.write(0);
bdbohn 0:5eb83c1d4b2e 327 }
bdbohn 0:5eb83c1d4b2e 328 else
bdbohn 0:5eb83c1d4b2e 329 {
bdbohn 0:5eb83c1d4b2e 330 red_led = 1;
bdbohn 0:5eb83c1d4b2e 331 green_led = 0;
bdbohn 0:5eb83c1d4b2e 332 IN2.write(float(dc/100.00));
bdbohn 0:5eb83c1d4b2e 333 IN1.write(0);
bdbohn 0:5eb83c1d4b2e 334 }
bdbohn 0:5eb83c1d4b2e 335 }