demo demo
/
BluetoothSumo
Diff: Motor.cpp
- Revision:
- 0:41f85a3f645d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.cpp Sat Sep 19 18:32:13 2009 +0000 @@ -0,0 +1,24 @@ +// H-Bridge Motor Control +// Copyright (c) 2009 sford +// Released under the MIT License: http://mbed.org/license/mit + +#include "Motor.h" + +#include "mbed.h" + +Motor::Motor(PinName pwm, PinName fwd, PinName rev) : _pwm(pwm), _fwd(fwd), _rev(rev) { + + // Set initial condition of PWM + _pwm.period(0.001); + _pwm = 0; + + // Initial condition of output enables + _fwd = 0; + _rev = 0; +} + +void Motor::speed(float speed) { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + _pwm = abs(speed); +}