Bryce Williams / LMD18200

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Show/hide line numbers LMD18200.cpp Source File

LMD18200.cpp

00001 #include "LMD18200.h"
00002 #include <algorithm>
00003 
00004 LMD18200::LMD18200(PinName pwm, PinName dir) : speed(pwm), direction(dir){
00005     speed = 0.0;
00006     direction = 0;
00007 }
00008 
00009 void LMD18200::setSpeed(float spd){
00010     spd = clip(spd, 0.0, 1.0);      // Clamp value
00011     speed = spd;                    // Set PWM Speed
00012 }
00013 
00014 void LMD18200::setDirection(int dir){
00015     direction = dir;
00016 }
00017 
00018 /*
00019     Clips value to lower/ uppper
00020     @param value    The value to clip
00021     @param lower    The mininum allowable value
00022     @param upper    The maximum allowable value
00023     @return         The resulting clipped value
00024 */
00025 float LMD18200::clip(float value, float lower, float upper){
00026     return std::max(lower, std::min(value, upper));
00027 }
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