Arsapol Manamunchaiyaporn / Mbed 2 deprecated CleaningM-Palm

before test

Dependencies:   BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed

Fork of clean_V1 by Betago

motor/Motor.cpp@7:0dac9d4ff04f, 2016-06-07 (annotated)

Committer:
icyzkungz
Date:
Tue Jun 07 16:17:34 2016 +0000
Revision:
7:0dac9d4ff04f
Parent:
1:45f1573d65a1 
before test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 1:45f1573d65a1 1 /* mbed simple H-bridge motor controller
palmdotax 1:45f1573d65a1 2 * Copyright (c) 2007-2010, sford
palmdotax 1:45f1573d65a1 3 *
palmdotax 1:45f1573d65a1 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
palmdotax 1:45f1573d65a1 5 * of this software and associated documentation files (the "Software"), to deal
palmdotax 1:45f1573d65a1 6 * in the Software without restriction, including without limitation the rights
palmdotax 1:45f1573d65a1 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
palmdotax 1:45f1573d65a1 8 * copies of the Software, and to permit persons to whom the Software is
palmdotax 1:45f1573d65a1 9 * furnished to do so, subject to the following conditions:
palmdotax 1:45f1573d65a1 10 *
palmdotax 1:45f1573d65a1 11 * The above copyright notice and this permission notice shall be included in
palmdotax 1:45f1573d65a1 12 * all copies or substantial portions of the Software.
palmdotax 1:45f1573d65a1 13 *
palmdotax 1:45f1573d65a1 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
palmdotax 1:45f1573d65a1 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
palmdotax 1:45f1573d65a1 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
palmdotax 1:45f1573d65a1 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
palmdotax 1:45f1573d65a1 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
palmdotax 1:45f1573d65a1 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
palmdotax 1:45f1573d65a1 20 * THE SOFTWARE.
palmdotax 1:45f1573d65a1 21 */
palmdotax 1:45f1573d65a1 22
palmdotax 1:45f1573d65a1 23 #include "Motor.h"
palmdotax 1:45f1573d65a1 24
palmdotax 1:45f1573d65a1 25 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
palmdotax 1:45f1573d65a1 26 _pwm(pwm), _fwd(fwd), _rev(rev) {
palmdotax 1:45f1573d65a1 27
palmdotax 1:45f1573d65a1 28 // Set initial condition of PWM
palmdotax 1:45f1573d65a1 29 _pwm.period(0.001);
palmdotax 1:45f1573d65a1 30 _pwm = 0;
palmdotax 1:45f1573d65a1 31
palmdotax 1:45f1573d65a1 32 // Initial condition of output enables
palmdotax 1:45f1573d65a1 33 _fwd = 0;
palmdotax 1:45f1573d65a1 34 _rev = 0;
palmdotax 1:45f1573d65a1 35 }
palmdotax 1:45f1573d65a1 36
palmdotax 1:45f1573d65a1 37 void Motor::speed(float speed) {
palmdotax 1:45f1573d65a1 38 _fwd = (speed > 0.0);
palmdotax 1:45f1573d65a1 39 _rev = (speed < 0.0);
palmdotax 1:45f1573d65a1 40 _pwm = abs(speed);
palmdotax 1:45f1573d65a1 41 }
palmdotax 1:45f1573d65a1 42
palmdotax 1:45f1573d65a1 43 void Motor::period(float period){
palmdotax 1:45f1573d65a1 44
palmdotax 1:45f1573d65a1 45 _pwm.period(period);
palmdotax 1:45f1573d65a1 46
palmdotax 1:45f1573d65a1 47 }
palmdotax 1:45f1573d65a1 48
palmdotax 1:45f1573d65a1 49 void Motor::brake(int highLow){
palmdotax 1:45f1573d65a1 50
palmdotax 1:45f1573d65a1 51 if(highLow == BRAKE_HIGH){
palmdotax 1:45f1573d65a1 52 _fwd = 1;
palmdotax 1:45f1573d65a1 53 _rev = 1;
palmdotax 1:45f1573d65a1 54 }
palmdotax 1:45f1573d65a1 55 else if(highLow == BRAKE_LOW){
palmdotax 1:45f1573d65a1 56 _fwd = 0;
palmdotax 1:45f1573d65a1 57 _rev = 0;
palmdotax 1:45f1573d65a1 58 }
palmdotax 1:45f1573d65a1 59
palmdotax 1:45f1573d65a1 60 }
palmdotax 1:45f1573d65a1 61