MotorDrive.cpp

00001 #include "MotorDrive.h"
00002 #include "mbed.h"
00003 
00004 PwmOut pwm[3] = {PwmOut(PB_2),PwmOut(PB_15),PwmOut(PA_1)};
00005 DigitalOut cw[3] = {DigitalOut(PB_12),DigitalOut(PA_12),DigitalOut(PH_1)};
00006 DigitalOut ccw[3] = {DigitalOut(PB_1),DigitalOut(PB_14),DigitalOut(PA_4)};
00007 DigitalOut dis[3] = {DigitalOut(PA_11),DigitalOut(PB_13),DigitalOut(PC_2)};
00008 //DigitalOut led(D6);
00009   
00010 //void motor_init();
00011 //void motor(int,char,float);
00012 
00013 void motor_init(){
00014     for(int i=0;i<3;i++){
00015         cw[i]=0;
00016         ccw[i]=0;
00017         dis[i]=0;
00018         pwm[i].period_us(100);
00019     }
00020 }
00021 
00022 void motor(int motor_num,char direction_of_rotation,float PWM_WRITE){
00023     pwm[motor_num].write(PWM_WRITE);
00024     switch(direction_of_rotation){
00025         case CW:
00026             ccw[motor_num]=0;
00027             cw[motor_num]=1;
00028         break;
00029         case CCW:
00030             cw[motor_num]=0;
00031             ccw[motor_num]=1;
00032         break;
00033         case STOP:
00034             cw[motor_num]=0;
00035             ccw[motor_num]=0;
00036         break;
00037         default:break;
00038     }
00039 }