Joseph Bradshaw / MotCon2

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Dependents:   Teensy_Mot_QEI_Ser_20180111 Axis Axis_20181108 Axis_version2

Fork of MotCon by Joseph Bradshaw

MotCon.cpp

Committer:
jebradshaw
Date:
2016-05-19
Revision:
2:23cd902e1774
Parent:
1:69e79f1db999

File content as of revision 2:23cd902e1774:

#include "MotCon.h"

MotCon::MotCon(PinName pwm, PinName dir) : _pwm(pwm), _dir(dir) {
    _pwm.period_us(50);
    _pwm = 0.0;
    _dir = 0;
}

// dc is signed duty cycle (+/-1.0)
void MotCon::mot_control(float dc){        
    if(dc>1.0)
        dc=1.0;
    if(dc<-1.0)
        dc=-1.0;
        
    if(dc > 0.001){
        _dir = 0;
        _pwm = dc;
    }
    else if(dc < -0.001){
        _dir = 1;
        _pwm = abs(dc);
    }
    else{
        _dir = 0;
        _pwm = 0.0;
    }      
}

// dc is signed duty cycle (+/-1.0)
void MotCon::mot_control(float dc, int invert){        
    if(dc>1.0)
        dc=1.0;
    if(dc<-1.0)
        dc=-1.0;
        
    if(invert==0){
        if(dc > 0.001){
            _dir = 0;
            _pwm = dc;
        }
        else if(dc < -0.001){
            _dir = 1;
            _pwm = abs(dc);
        }
        else{
            _dir = 0;
            _pwm = 0.0;
        }
    }
    else{
        if(dc > 0.001){
            _dir = 1;
            _pwm = dc;
        }
        else if(dc < -0.001){
            _dir = 0;
            _pwm = abs(dc);
        }
        else{
            _dir = 0;
            _pwm = 0.0;
        }
    }
}