Diff: L298HBridge.cpp

Revision:

3:dabd8b6b2bff

Parent:

2:1c000b6cf863

--- a/L298HBridge.cpp	Fri Jan 20 09:10:05 2017 +0000
+++ b/L298HBridge.cpp	Fri Aug 25 21:00:45 2017 +0000
@@ -1,29 +1,56 @@
+//////////////////////////////////////////////////////////////////////////////////
+// Company: edinburgh of university
+// Engineer: ZEjun DU
+// 
+// Create Date: 2017/08/20 13:06:52
+// Design Name: Inverted Pendulum Balancer
+// Module Name: motor driver
+// Tool Versions: “Keil 5” or “Mbed Complie Online”
+// Description: this part is basic function of movement to control the motor according to PWM!!!!!!!
+//                           
+// 
+//////////////////////////////////////////////////////////////////////////////////
+
 #include "L298HBridge.h"
 #include "mbed.h"
  
- 
+////////////////////////////////////////////////////////////
+//this part is a independent function which control the movement based on L298n
+////////////////////////////////////////////////////////////
 L298HBridge::L298HBridge(PinName ENPin, PinName FWDPin, PinName REVPin) : _ENPin(ENPin), _FWDPin(FWDPin), _REVPin(REVPin) {
-    _ENPin = 0;     //PWM = 0%
-    _FWDPin = 0;
-    _REVPin = 0;
-    _ENPin.period(0.020); //set PWM period to 20mS as default.
+    _ENPin = 0; //PWM = 0%
+    _FWDPin = 0; //PWM = 0% 
+    _REVPin = 0; //PWM = 0%
+    _ENPin.period(0.0002); //set PWM period to 2mS as default.
 }
- 
+
+////////////////////////////////////////////////////////////
+//this part is to move forward
+////////////////////////////////////////////////////////////
 void L298HBridge::Fwd() {    
-    _FWDPin = 1;
-    _REVPin = 0;
+    _FWDPin = 1;//enable foward pin 
+    _REVPin = 0;//disable reverse pin
 }
 
+////////////////////////////////////////////////////////////
+//this part is to move reserve
+////////////////////////////////////////////////////////////
 void L298HBridge::Rev() {
-    _FWDPin = 0;
-    _REVPin = 1;
+    _FWDPin = 0;//disable foward pin 
+    _REVPin = 1;//enable reverse pin 
 }
 
+////////////////////////////////////////////////////////////
+//this part is to stop the movement of the balancer
+////////////////////////////////////////////////////////////
 void L298HBridge::Stop() {
-    _FWDPin = 0;
-    _REVPin = 0;
+    _FWDPin = 0;//disable foward pin 
+    _REVPin = 0;//disable reverse pin 
 }
- 
+
+////////////////////////////////////////////////////////////
+//this part is to control the force of the motor according to PWM
+////////////////////////////////////////////////////////////
 void L298HBridge::Speed(float DutyPercent) {    
-    _ENPin = DutyPercent /100;
+    _ENPin = DutyPercent /1000;//set PWM pin
 }
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