demo demo / Mbed 2 deprecated BluetoothSumo

Dependencies:   mbed

Motor.cpp

Committer:
demo
Date:
2009-09-19
Revision:
0:41f85a3f645d

File content as of revision 0:41f85a3f645d:

// 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);
}