Raynaud Gilles / TB5649

V1

Dependents:   VITI_motor_angle_1 VITI_motor_angle_2 VITI_motor_angle_3

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Show/hide line numbers TB6549.cpp Source File

TB6549.cpp

00001 /* mbed simple H-bridge motor controller
00002  * Copyright (c) 2007-2010,
00003  *
00004 
00005  */
00006 
00007 #include "TB6549.h"
00008 
00009 #include "mbed.h"
00010 
00011 Motor::Motor(PinName pwm, PinName in1, PinName in2,PinName sb):
00012     _pwm(pwm), _in1(in1), _in2(in2), _sb(sb)
00013 {
00014 
00015     // Set initial condition of PWM
00016     _pwm.period(0.001);
00017     _pwm = 0;
00018 
00019     // Initial condition stand by
00020     _in1 = 0;
00021     _in2 = 0;
00022     _sb = 0;
00023 }
00024 
00025 void Motor::speed(float speed)
00026 {
00027     if(speed > 0) {
00028         _in1=0;
00029         _in2=1;
00030         _sb=1;
00031     } else {
00032         _in1=1;
00033         _in2=0;
00034         _sb=1;
00035     }
00036     _pwm = abs(speed);
00037 }
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