dror balbul
gh
Motor.cpp@0:a470311addc4, 2010-06-10 (annotated)
- Committer:
- simon
- Date:
- Thu Jun 10 11:31:02 2010 +0000
- Revision:
- 0:a470311addc4
- Child:
- 2:f265e441bcd9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| simon | 0:a470311addc4 | 1 | /* mbed simple H-bridge motor controller |
| simon | 0:a470311addc4 | 2 | * Copyright (c) 2007-2010, sford |
| simon | 0:a470311addc4 | 3 | * |
| simon | 0:a470311addc4 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| simon | 0:a470311addc4 | 5 | * of this software and associated documentation files (the "Software"), to deal |
| simon | 0:a470311addc4 | 6 | * in the Software without restriction, including without limitation the rights |
| simon | 0:a470311addc4 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| simon | 0:a470311addc4 | 8 | * copies of the Software, and to permit persons to whom the Software is |
| simon | 0:a470311addc4 | 9 | * furnished to do so, subject to the following conditions: |
| simon | 0:a470311addc4 | 10 | * |
| simon | 0:a470311addc4 | 11 | * The above copyright notice and this permission notice shall be included in |
| simon | 0:a470311addc4 | 12 | * all copies or substantial portions of the Software. |
| simon | 0:a470311addc4 | 13 | * |
| simon | 0:a470311addc4 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| simon | 0:a470311addc4 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| simon | 0:a470311addc4 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| simon | 0:a470311addc4 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| simon | 0:a470311addc4 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| simon | 0:a470311addc4 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| simon | 0:a470311addc4 | 20 | * THE SOFTWARE. |
| simon | 0:a470311addc4 | 21 | */ |
| simon | 0:a470311addc4 | 22 | |
| simon | 0:a470311addc4 | 23 | #include "Motor.h" |
| simon | 0:a470311addc4 | 24 | |
| simon | 0:a470311addc4 | 25 | #include "mbed.h" |
| simon | 0:a470311addc4 | 26 | |
| simon | 0:a470311addc4 | 27 | Motor::Motor(PinName pwm, PinName fwd, PinName rev): |
| simon | 0:a470311addc4 | 28 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
| simon | 0:a470311addc4 | 29 | |
| simon | 0:a470311addc4 | 30 | // Set initial condition of PWM |
| simon | 0:a470311addc4 | 31 | _pwm.period(0.001); |
| simon | 0:a470311addc4 | 32 | _pwm = 0; |
| simon | 0:a470311addc4 | 33 | |
| simon | 0:a470311addc4 | 34 | // Initial condition of output enables |
| simon | 0:a470311addc4 | 35 | _fwd = 0; |
| simon | 0:a470311addc4 | 36 | _rev = 0; |
| simon | 0:a470311addc4 | 37 | } |
| simon | 0:a470311addc4 | 38 | |
| simon | 0:a470311addc4 | 39 | void Motor::speed(float speed) { |
| simon | 0:a470311addc4 | 40 | _fwd = (speed > 0.0); |
| simon | 0:a470311addc4 | 41 | _rev = (speed < 0.0); |
| simon | 0:a470311addc4 | 42 | _pwm = abs(speed); |
| simon | 0:a470311addc4 | 43 | } |
| simon | 0:a470311addc4 | 44 | |
| simon | 0:a470311addc4 | 45 | |
| simon | 0:a470311addc4 | 46 |