Raynaud Gilles / TB5649

V1

Dependents:   VITI_motor_angle_1 VITI_motor_angle_2 VITI_motor_angle_3

TB6549.h@0:1b8889c40a44, 2020-05-21 (annotated)

Committer:
gr66
Date:
Thu May 21 17:42:47 2020 +0000
Revision:
0:1b8889c40a44
V1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gr66 0:1b8889c40a44 1 /* mbed simple H-bridge motor controller
gr66 0:1b8889c40a44 2 * Copyright (c)
gr66 0:1b8889c40a44 3
gr66 0:1b8889c40a44 4 */
gr66 0:1b8889c40a44 5
gr66 0:1b8889c40a44 6 #ifndef MBED_MOTOR_H
gr66 0:1b8889c40a44 7 #define MBED_MOTOR_H
gr66 0:1b8889c40a44 8
gr66 0:1b8889c40a44 9 #include "mbed.h"
gr66 0:1b8889c40a44 10
gr66 0:1b8889c40a44 11 /** Interface to control a standard DC motor
gr66 0:1b8889c40a44 12 *
gr66 0:1b8889c40a44 13 * with an H-bridge using a PwmOut and 3 DigitalOuts
gr66 0:1b8889c40a44 14 */
gr66 0:1b8889c40a44 15 class Motor {
gr66 0:1b8889c40a44 16 public:
gr66 0:1b8889c40a44 17
gr66 0:1b8889c40a44 18 /** Create a motor control interface
gr66 0:1b8889c40a44 19 *
gr66 0:1b8889c40a44 20 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
gr66 0:1b8889c40a44 21 * @param in1 A DigitalOut,
gr66 0:1b8889c40a44 22 * @param in2 A DigitalOut,
gr66 0:1b8889c40a44 23 * @param sb
gr66 0:1b8889c40a44 24 A DigitalOut,
gr66 0:1b8889c40a44 25 */
gr66 0:1b8889c40a44 26 Motor(PinName pwm, PinName in1, PinName in2, PinName sb);
gr66 0:1b8889c40a44 27
gr66 0:1b8889c40a44 28 /** Set the speed of the motor
gr66 0:1b8889c40a44 29 *
gr66 0:1b8889c40a44 30 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
gr66 0:1b8889c40a44 31 */
gr66 0:1b8889c40a44 32 void speed(float speed);
gr66 0:1b8889c40a44 33
gr66 0:1b8889c40a44 34 protected:
gr66 0:1b8889c40a44 35 PwmOut _pwm;
gr66 0:1b8889c40a44 36 DigitalOut _in1;
gr66 0:1b8889c40a44 37 DigitalOut _in2;
gr66 0:1b8889c40a44 38 DigitalOut _sb;
gr66 0:1b8889c40a44 39
gr66 0:1b8889c40a44 40 };
gr66 0:1b8889c40a44 41
gr66 0:1b8889c40a44 42 #endif
gr66 0:1b8889c40a44 43