Diff: VNH5019.h

Revision:

5:b5f360a16354

Parent:

2:d670a4b999ab

diff -r 3802325cf6e1 -r b5f360a16354 VNH5019.h
--- a/VNH5019.h	Tue Jul 29 14:25:40 2014 +0000
+++ b/VNH5019.h	Thu Aug 07 12:23:30 2014 +0000
@@ -67,4 +67,76 @@
       VNH5019 m2;
 };
 
+inline
+void VNH5019::stop()
+{
+    INA = 0;
+    INB = 0;
+    PWM = 0.0;
+}
+
+inline
+void VNH5019::brake(float Brake)
+{
+   // normalize Brake to 0..1
+   if (Brake < 0)
+      Brake = -Brake;
+   if (Brake > 1.0)
+      Brake = 1.0;
+
+   INA = 0;
+   INB = 0;
+   PWM = Brake;
+}
+
+inline
+float VNH5019::get_current_mA()
+{
+   // Scale is 144mV per A
+   // Scale factor is 3.3 / 0.144 = 22.916667
+   return CS.read() * 22.916667;
+}
+
+inline
+bool VNH5019::is_fault()
+{
+  return !ENDIAG;
+}
+
+inline
+void VNH5019::disable()
+{
+    ENDIAG.output();
+    ENDIAG.write(0);
+}
+
+inline    
+void VNH5019::enable()
+{
+    ENDIAG.input();
+}
+
+inline
+DualVNH5019MotorShield::DualVNH5019MotorShield()
+: m1(PTD4, PTA4, PTC8, PTB0, PTD5),
+  m2(PTC9, PTA13, PTD3, PTB1, PTD0)
+{
+}
+
+inline
+DualVNH5019MotorShield::DualVNH5019MotorShield(PinName INA1_, PinName INB1_, PinName ENDIAG1_, PinName CS1_, PinName PWM1_,
+                                               PinName INA2_, PinName INB2_, PinName ENDIAG2_, PinName CS2_, PinName PWM2_)
+ : m1(INA1_, INB1_, ENDIAG1_, CS1_, PWM1_),
+   m2(INA2_, INB2_, ENDIAG2_, CS2_, PWM2_)
+{
+}
+
+inline
+VNH5019& 
+DualVNH5019MotorShield::operator()(int m)
+{
+    return m == 1 ? m1 : m2;
+}
+
+
 #endif