geonwoo park / Mbed 2 deprecated L298LIB

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Dependencies:   mbed

L298LIB.cpp@0:dd3d9657fd9f, 2022-06-04 (annotated)

Committer:
kennethdhdl
Date:
Sat Jun 04 05:41:18 2022 +0000
Revision:
0:dd3d9657fd9f
L298N motor driver library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kennethdhdl 0:dd3d9657fd9f 1 #include "L298LIB.h"
kennethdhdl 0:dd3d9657fd9f 2 L298LIB::L298LIB(PinName pinEnable, PinName pinIN1, PinName pinIN2, PinName pinIN3, PinName pinIN4):
kennethdhdl 0:dd3d9657fd9f 3 _pwm(pinEnable),
kennethdhdl 0:dd3d9657fd9f 4 _pinIN1 (pinIN1),
kennethdhdl 0:dd3d9657fd9f 5 _pinIN2 (pinIN2),
kennethdhdl 0:dd3d9657fd9f 6 _pinIN3 (pinIN3),
kennethdhdl 0:dd3d9657fd9f 7 _pinIN4 (pinIN4)
kennethdhdl 0:dd3d9657fd9f 8 {
kennethdhdl 0:dd3d9657fd9f 9 _pwm.period_us(25); // 40kHz
kennethdhdl 0:dd3d9657fd9f 10 _pwm = 0.;
kennethdhdl 0:dd3d9657fd9f 11 _pinIN1 = 0;
kennethdhdl 0:dd3d9657fd9f 12 _pinIN2 = 0;
kennethdhdl 0:dd3d9657fd9f 13 _pinIN3 = 0;
kennethdhdl 0:dd3d9657fd9f 14 _pinIN4 = 0;
kennethdhdl 0:dd3d9657fd9f 15 }
kennethdhdl 0:dd3d9657fd9f 16 void L298LIB::setSpeed(float pwmVal)
kennethdhdl 0:dd3d9657fd9f 17 {
kennethdhdl 0:dd3d9657fd9f 18 _pwm = pwmVal;
kennethdhdl 0:dd3d9657fd9f 19 }
kennethdhdl 0:dd3d9657fd9f 20 float L298LIB::getSpeed()
kennethdhdl 0:dd3d9657fd9f 21 {
kennethdhdl 0:dd3d9657fd9f 22 return _pwm;
kennethdhdl 0:dd3d9657fd9f 23 }
kennethdhdl 0:dd3d9657fd9f 24 void L298LIB::forward()
kennethdhdl 0:dd3d9657fd9f 25 {
kennethdhdl 0:dd3d9657fd9f 26 _pinIN1=1;
kennethdhdl 0:dd3d9657fd9f 27 _pinIN2=0;
kennethdhdl 0:dd3d9657fd9f 28 _pinIN3=1;
kennethdhdl 0:dd3d9657fd9f 29 _pinIN4=0;
kennethdhdl 0:dd3d9657fd9f 30 }
kennethdhdl 0:dd3d9657fd9f 31 void L298LIB::backward()
kennethdhdl 0:dd3d9657fd9f 32 {
kennethdhdl 0:dd3d9657fd9f 33 _pinIN1=0;
kennethdhdl 0:dd3d9657fd9f 34 _pinIN2=1;
kennethdhdl 0:dd3d9657fd9f 35 _pinIN3=0;
kennethdhdl 0:dd3d9657fd9f 36 _pinIN4=1;
kennethdhdl 0:dd3d9657fd9f 37 }
kennethdhdl 0:dd3d9657fd9f 38 void L298LIB::stop()
kennethdhdl 0:dd3d9657fd9f 39 {
kennethdhdl 0:dd3d9657fd9f 40 _pinIN1=0;
kennethdhdl 0:dd3d9657fd9f 41 _pinIN2=0;
kennethdhdl 0:dd3d9657fd9f 42 _pinIN3=0;
kennethdhdl 0:dd3d9657fd9f 43 _pinIN4=0;
kennethdhdl 0:dd3d9657fd9f 44 }
kennethdhdl 0:dd3d9657fd9f 45 void L298LIB::run(float vel)
kennethdhdl 0:dd3d9657fd9f 46 {
kennethdhdl 0:dd3d9657fd9f 47 if (vel>=0) {
kennethdhdl 0:dd3d9657fd9f 48 setSpeed((vel>1.0f) ? 1.0f:vel);
kennethdhdl 0:dd3d9657fd9f 49 forward();
kennethdhdl 0:dd3d9657fd9f 50 } else {
kennethdhdl 0:dd3d9657fd9f 51 setSpeed((vel<-1.0f) ? 1.0f:-vel);
kennethdhdl 0:dd3d9657fd9f 52 backward();
kennethdhdl 0:dd3d9657fd9f 53 }
kennethdhdl 0:dd3d9657fd9f 54 }