Matt Clement / PololuMotorBoard

This library is an attempt to encapsulate the Pololu motor board.

Motor.cpp@1:69e4a93b718d, 2013-02-11 (annotated)

Committer:
buckeyes1997
Date:
Mon Feb 11 20:53:20 2013 +0000
Revision:
1:69e4a93b718d
Parent:
0:b7c4b6de973e 
added more checks on speed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
buckeyes1997 0:b7c4b6de973e 1 #include "Motor.h"
buckeyes1997 0:b7c4b6de973e 2 #include "mbed.h"
buckeyes1997 0:b7c4b6de973e 3
buckeyes1997 0:b7c4b6de973e 4
buckeyes1997 0:b7c4b6de973e 5 Motor::Motor(PinName pwm, PinName dir1, PinName dir2): _pwm(pwm), _dir1(dir1), _dir2(dir2)
buckeyes1997 0:b7c4b6de973e 6 {
buckeyes1997 1:69e4a93b718d 7 _direction=1; //default fwd
buckeyes1997 1:69e4a93b718d 8 _pwm.period(0.00005); //20Khz
buckeyes1997 1:69e4a93b718d 9 _pwm = 0; //default pwm off
buckeyes1997 0:b7c4b6de973e 10 _dir1 = 0;
buckeyes1997 0:b7c4b6de973e 11 _dir2 = 0;
buckeyes1997 0:b7c4b6de973e 12
buckeyes1997 0:b7c4b6de973e 13 }
buckeyes1997 0:b7c4b6de973e 14
buckeyes1997 0:b7c4b6de973e 15 float Motor::speed(float speed, bool direction)
buckeyes1997 0:b7c4b6de973e 16 {
buckeyes1997 0:b7c4b6de973e 17 if(direction == true) {
buckeyes1997 0:b7c4b6de973e 18 _dir1=1;
buckeyes1997 0:b7c4b6de973e 19 _dir2=0;
buckeyes1997 0:b7c4b6de973e 20 } else {
buckeyes1997 0:b7c4b6de973e 21 _dir1=0;
buckeyes1997 0:b7c4b6de973e 22 _dir2=1;
buckeyes1997 0:b7c4b6de973e 23 }
buckeyes1997 1:69e4a93b718d 24 if(speed > 1) {
buckeyes1997 1:69e4a93b718d 25 speed = 1;
buckeyes1997 1:69e4a93b718d 26 }
buckeyes1997 1:69e4a93b718d 27 if(speed < -1) {
buckeyes1997 1:69e4a93b718d 28 speed = -1;
buckeyes1997 1:69e4a93b718d 29 }
buckeyes1997 1:69e4a93b718d 30
buckeyes1997 0:b7c4b6de973e 31 _pwm = abs(speed);
buckeyes1997 0:b7c4b6de973e 32 return speed;
buckeyes1997 0:b7c4b6de973e 33 }
buckeyes1997 0:b7c4b6de973e 34
buckeyes1997 0:b7c4b6de973e 35 float Motor::speed(float speed)
buckeyes1997 0:b7c4b6de973e 36 {
buckeyes1997 1:69e4a93b718d 37 if(speed > 1) {
buckeyes1997 1:69e4a93b718d 38 speed = 1;
buckeyes1997 1:69e4a93b718d 39 }
buckeyes1997 1:69e4a93b718d 40 if(speed < -1) {
buckeyes1997 1:69e4a93b718d 41 speed = -1;
buckeyes1997 1:69e4a93b718d 42 }
buckeyes1997 1:69e4a93b718d 43 if(speed < 0) {
buckeyes1997 1:69e4a93b718d 44 _dir1=1;
buckeyes1997 1:69e4a93b718d 45 _dir2=0;
buckeyes1997 1:69e4a93b718d 46 } else {
buckeyes1997 1:69e4a93b718d 47 _dir1=0;
buckeyes1997 1:69e4a93b718d 48 _dir2=1;
buckeyes1997 1:69e4a93b718d 49 }
buckeyes1997 0:b7c4b6de973e 50 _pwm = abs(speed);
buckeyes1997 0:b7c4b6de973e 51 return speed;
buckeyes1997 0:b7c4b6de973e 52 }
buckeyes1997 0:b7c4b6de973e 53
buckeyes1997 1:69e4a93b718d 54 Motor& Motor::operator= (float speed)
buckeyes1997 1:69e4a93b718d 55 {
buckeyes1997 1:69e4a93b718d 56 if(speed > 1) {
buckeyes1997 1:69e4a93b718d 57 speed = 1;
buckeyes1997 1:69e4a93b718d 58 }
buckeyes1997 1:69e4a93b718d 59 if(speed < -1) {
buckeyes1997 1:69e4a93b718d 60 speed = -1;
buckeyes1997 1:69e4a93b718d 61 }
buckeyes1997 1:69e4a93b718d 62 if(speed < 0) {
buckeyes1997 1:69e4a93b718d 63 _dir1=1;
buckeyes1997 1:69e4a93b718d 64 _dir2=0;
buckeyes1997 1:69e4a93b718d 65 } else {
buckeyes1997 1:69e4a93b718d 66 _dir1=0;
buckeyes1997 1:69e4a93b718d 67 _dir2=1;
buckeyes1997 1:69e4a93b718d 68 }
buckeyes1997 0:b7c4b6de973e 69 _pwm = abs(speed);
buckeyes1997 1:69e4a93b718d 70 return *this;
buckeyes1997 0:b7c4b6de973e 71 }