HBridge.cpp

00001 #include "HBridge.h"
00002 
00003 HBridge::HBridge(PinName pwm_pin, PinName min_1_pin, PinName min_2_pin, float pwm_period): pwm_pin_(pwm_pin), min_1_pin_(min_1_pin), min_2_pin_(min_2_pin) {
00004     pwm_pin_.period(pwm_period);
00005 }
00006 
00007 //Input of -1 means full reverse, 1 means full forward
00008 //An input of magnitude > 1 gets reduced to 1 (or -1) by the pwm.write function
00009 void HBridge::set_output(float output) {
00010     this->output = output;
00011     if (output > 0) {
00012         min_1_pin_.write(0);
00013         min_2_pin_.write(1);
00014         pwm_pin_.write(0.5);
00015     } else if (output < 0) {
00016         min_1_pin_.write(1);
00017         min_2_pin_.write(0);
00018         pwm_pin_.write(0.5);
00019     } else {
00020         min_1_pin_.write(0);
00021         min_2_pin_.write(0);
00022         pwm_pin_.write(0.0);
00023     }
00024 }
00025 
00026 void HBridge::forward()
00027 {
00028     min_1_pin_.write(1);
00029     min_2_pin_.write(0);
00030     pwm_pin_.write(0.5);   
00031 }
00032 void HBridge::back()
00033 {
00034     min_1_pin_.write(0);
00035     min_2_pin_.write(1);
00036     pwm_pin_.write(0.5);   
00037     
00038 }
00039 void HBridge::initialize()
00040 {
00041     min_1_pin_.write(0);
00042     min_2_pin_.write(0);
00043     pwm_pin_.write(0);   
00044 }