Revision 0:52968fafce73, committed 2016-01-01

Comitter:

electromotivated

Date:

Fri Jan 01 20:40:15 2016 +0000

Commit message:

Upload;

Changed in this revision

--- /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));
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LMD18200.h	Fri Jan 01 20:40:15 2016 +0000
@@ -0,0 +1,41 @@
+#ifndef LMD18200_H
+#define LMD18200_H
+
+#include "mbed.h"
+
+/*
+    Very simple class for the LMD18200 H-Bridge Breakout Board
+*/
+
+class LMD18200{
+    public:
+    /*
+        Constructor for LMD18200 objects
+        @param pwm  PWM Pin used to set speed
+        @param dir  Digital Pin used to set direction
+    */
+    LMD18200(PinName pwm, PinName dir);
+    
+    /*
+        Set speed of motor
+        @param spd  The speed of the motor, as a percentage, 
+                    normalized between 0 and 1
+    */
+    void setSpeed(float spd);
+    
+    /*
+        Set the direction of the motor
+        @param dir  The direction of the motor, 0 or 1: 0 = FWD, 1 = REVERSE
+                    
+    */
+    void setDirection(int dir);
+    
+    private:
+    PwmOut speed;
+    DigitalOut direction;
+    /*
+        Clamps value between lower and upper values
+    */
+    float clip(float value, float lower, float upper);
+};
+#endif
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