Revision 0:a5f28c547fdb, committed 2017-02-06

Comitter:

feri

Date:

Mon Feb 06 16:21:59 2017 +0000

Commit message:

hmost;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mot_inter.cpp	Mon Feb 06 16:21:59 2017 +0000
@@ -0,0 +1,35 @@
+#include "Mot_inter.h"
+#include "mbed.h"
+
+Mot_inter::Mot_inter(PinName pin1, PinName pin2, PinName tipka1, PinName tipka2):C(tipka1),D(tipka2)
+{
+    A = new PwmOut(pin1);
+    B = new PwmOut(pin2);
+    C.mode(PullUp);
+    D.mode(PullUp);
+    C.rise(this, &Mot_inter::pritisnuto);
+    D.rise(this, &Mot_inter::pritisnuto);
+}
+
+void Mot_inter::naprijed()
+{
+    A->write(1);
+    B->write(0);
+}
+
+void Mot_inter::natrag()
+{
+    A->write(0);
+    B->write(1);
+}
+
+void Mot_inter::stop()
+{
+    A->write(0);
+    B->write(0);
+}
+
+void Mot_inter::pritisnuto()
+{
+    stop();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mot_inter.h	Mon Feb 06 16:21:59 2017 +0000
@@ -0,0 +1,43 @@
+#ifndef Mot_inter_H
+#define Mot_inter_H
+
+#include "mbed.h"
+
+/** Jednostavna klasa za pokretanje motora spojenog na H-most, 
+  * te prisilno zaustavljanje pomoću interrupt tipkala
+  * Autor klase: Josip Lupinski
+  */
+
+class Mot_inter{
+    public:
+        /** Konstruktor H-mosta
+        * @param A PWM signal za upravlajnje visokom stranom tranzistora H-mosta A
+        * @param B PWM signal za upravlajnje visokom stranom tranzistora H-mosta b
+        * @param C INTERRUPT signal za naglo zaustavljanje motora
+        * @param D INTERRUPT signal za naglo zaustavljanje motora
+        */
+        Mot_inter(PinName A, PinName B, PinName C, PinName D);
+    
+        /** Naredba za pokretanje motora u jednom smjeru
+        */
+        void naprijed();
+    
+        /** Naredba za pokretanje motora u drugom smjeru
+        */
+        void natrag();
+    
+        /** Naredba za naglo zaustavljanje motora
+        */
+        void stop();
+    
+    private:
+        PwmOut *A, *B;  //pointeri za Pwm Out objekte
+        InterruptIn C;
+        InterruptIn D;
+        
+        /** Naredba za naglo zaustavljanje motora kada se bilo koja tipka aktivira
+        */
+        void pritisnuto(void);  
+
+};
+#endif
\ No newline at end of file