Diff: LMD18200.cpp

Revision:

0:52968fafce73

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LMD18200.cpp	Fri Jan 01 20:40:15 2016 +0000
@@ -0,0 +1,27 @@
+#include "LMD18200.h"
+#include <algorithm>
+
+LMD18200::LMD18200(PinName pwm, PinName dir) : speed(pwm), direction(dir){
+    speed = 0.0;
+    direction = 0;
+}
+
+void LMD18200::setSpeed(float spd){
+    spd = clip(spd, 0.0, 1.0);      // Clamp value
+    speed = spd;                    // Set PWM Speed
+}
+
+void LMD18200::setDirection(int dir){
+    direction = dir;
+}
+
+/*
+    Clips value to lower/ uppper
+    @param value    The value to clip
+    @param lower    The mininum allowable value
+    @param upper    The maximum allowable value
+    @return         The resulting clipped value
+*/
+float LMD18200::clip(float value, float lower, float upper){
+    return std::max(lower, std::min(value, upper));
+}