tarou yamada / GMD_template_lib

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Dependents:   NewMD2 NewMD3

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GMD.hpp

00001 #ifndef INCLUDED_GMD_H
00002 #define INCLUDED_GMD_H
00003 
00004 #include "mbed.h"
00005 #include "FastPWM.h"
00006 
00007 template <size_t MIN, size_t MAX>
00008 class GMD {
00009 public:
00010     GMD(PinName p0, PinName p1, PinName shut_down);
00011     void set_frequency_kHz(float f_kHz);
00012     
00013     float operator=(float p);
00014     float set(float p);
00015     void release();
00016     
00017 private:
00018     static const float _frequency_to_tick_coeff;
00019     static const uint32_t _default_frequency_kHz;
00020     static const float _threshold;
00021 
00022     FastPWM* _pwm[2];
00023     DigitalOut _shut_down;
00024 };
00025 
00026 #include "GMD_impl.hpp"
00027 
00028 typedef GMD<0, 95> basic_motor_driver;
00029  
00030 #endif
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