Raynaud Gilles
V1
Dependents: VITI_motor_angle_1 VITI_motor_angle_2 VITI_motor_angle_3
Diff: TB6549.cpp
- Revision:
- 0:1b8889c40a44
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6549.cpp Thu May 21 17:42:47 2020 +0000
@@ -0,0 +1,37 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010,
+ *
+
+ */
+
+#include "TB6549.h"
+
+#include "mbed.h"
+
+Motor::Motor(PinName pwm, PinName in1, PinName in2,PinName sb):
+ _pwm(pwm), _in1(in1), _in2(in2), _sb(sb)
+{
+
+ // Set initial condition of PWM
+ _pwm.period(0.001);
+ _pwm = 0;
+
+ // Initial condition stand by
+ _in1 = 0;
+ _in2 = 0;
+ _sb = 0;
+}
+
+void Motor::speed(float speed)
+{
+ if(speed > 0) {
+ _in1=0;
+ _in2=1;
+ _sb=1;
+ } else {
+ _in1=1;
+ _in2=0;
+ _sb=1;
+ }
+ _pwm = abs(speed);
+}