Javier Sanchez Peña / Motor

Control a DC motor via a standard H-bridge using a PwmOut pin to control speed and two DigitalOut pins to control direction. Can change pwm period on the PwmOut pin, and also brake high or low.

Fork of Motor by Aaron Berk

Motor.cpp@0:f05e09f8f5d9, 2010-09-02 (annotated)

Committer:
aberk
Date:
Thu Sep 02 16:32:57 2010 +0000
Revision:
0:f05e09f8f5d9
Child:
1:c75b234558af
Added period(...) method to allow the period on the PwmOut pin to be changed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:f05e09f8f5d9 1 /* mbed simple H-bridge motor controller
aberk 0:f05e09f8f5d9 2 * Copyright (c) 2007-2010, sford
aberk 0:f05e09f8f5d9 3 *
aberk 0:f05e09f8f5d9 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
aberk 0:f05e09f8f5d9 5 * of this software and associated documentation files (the "Software"), to deal
aberk 0:f05e09f8f5d9 6 * in the Software without restriction, including without limitation the rights
aberk 0:f05e09f8f5d9 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
aberk 0:f05e09f8f5d9 8 * copies of the Software, and to permit persons to whom the Software is
aberk 0:f05e09f8f5d9 9 * furnished to do so, subject to the following conditions:
aberk 0:f05e09f8f5d9 10 *
aberk 0:f05e09f8f5d9 11 * The above copyright notice and this permission notice shall be included in
aberk 0:f05e09f8f5d9 12 * all copies or substantial portions of the Software.
aberk 0:f05e09f8f5d9 13 *
aberk 0:f05e09f8f5d9 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
aberk 0:f05e09f8f5d9 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
aberk 0:f05e09f8f5d9 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
aberk 0:f05e09f8f5d9 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
aberk 0:f05e09f8f5d9 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
aberk 0:f05e09f8f5d9 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
aberk 0:f05e09f8f5d9 20 * THE SOFTWARE.
aberk 0:f05e09f8f5d9 21 */
aberk 0:f05e09f8f5d9 22
aberk 0:f05e09f8f5d9 23 #include "Motor.h"
aberk 0:f05e09f8f5d9 24
aberk 0:f05e09f8f5d9 25 Motor::Motor(PinName pwm, PinName fwd, PinName rev):
aberk 0:f05e09f8f5d9 26 _pwm(pwm), _fwd(fwd), _rev(rev) {
aberk 0:f05e09f8f5d9 27
aberk 0:f05e09f8f5d9 28 // Set initial condition of PWM
aberk 0:f05e09f8f5d9 29 _pwm.period(0.001);
aberk 0:f05e09f8f5d9 30 _pwm = 0;
aberk 0:f05e09f8f5d9 31
aberk 0:f05e09f8f5d9 32 // Initial condition of output enables
aberk 0:f05e09f8f5d9 33 _fwd = 0;
aberk 0:f05e09f8f5d9 34 _rev = 0;
aberk 0:f05e09f8f5d9 35 }
aberk 0:f05e09f8f5d9 36
aberk 0:f05e09f8f5d9 37 void Motor::speed(float speed) {
aberk 0:f05e09f8f5d9 38 _fwd = (speed > 0.0);
aberk 0:f05e09f8f5d9 39 _rev = (speed < 0.0);
aberk 0:f05e09f8f5d9 40 _pwm = abs(speed);
aberk 0:f05e09f8f5d9 41 }
aberk 0:f05e09f8f5d9 42
aberk 0:f05e09f8f5d9 43 void Motor::period(float period){
aberk 0:f05e09f8f5d9 44
aberk 0:f05e09f8f5d9 45 _pwm.period(period);
aberk 0:f05e09f8f5d9 46
aberk 0:f05e09f8f5d9 47 }