geonwoo park
/
L298LIB
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Revision 0:dd3d9657fd9f, committed 2022-06-04
- Comitter:
- kennethdhdl
- Date:
- Sat Jun 04 05:41:18 2022 +0000
- Commit message:
- L298N motor driver library
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/L298LIB.cpp Sat Jun 04 05:41:18 2022 +0000
@@ -0,0 +1,54 @@
+#include "L298LIB.h"
+L298LIB::L298LIB(PinName pinEnable, PinName pinIN1, PinName pinIN2, PinName pinIN3, PinName pinIN4):
+ _pwm(pinEnable),
+ _pinIN1 (pinIN1),
+ _pinIN2 (pinIN2),
+ _pinIN3 (pinIN3),
+ _pinIN4 (pinIN4)
+{
+ _pwm.period_us(25); // 40kHz
+ _pwm = 0.;
+ _pinIN1 = 0;
+ _pinIN2 = 0;
+ _pinIN3 = 0;
+ _pinIN4 = 0;
+}
+void L298LIB::setSpeed(float pwmVal)
+{
+ _pwm = pwmVal;
+}
+float L298LIB::getSpeed()
+{
+ return _pwm;
+}
+void L298LIB::forward()
+{
+ _pinIN1=1;
+ _pinIN2=0;
+ _pinIN3=1;
+ _pinIN4=0;
+}
+void L298LIB::backward()
+{
+ _pinIN1=0;
+ _pinIN2=1;
+ _pinIN3=0;
+ _pinIN4=1;
+}
+void L298LIB::stop()
+{
+ _pinIN1=0;
+ _pinIN2=0;
+ _pinIN3=0;
+ _pinIN4=0;
+}
+void L298LIB::run(float vel)
+{
+ if (vel>=0) {
+ setSpeed((vel>1.0f) ? 1.0f:vel);
+ forward();
+ } else {
+ setSpeed((vel<-1.0f) ? 1.0f:-vel);
+ backward();
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/L298LIB.h Sat Jun 04 05:41:18 2022 +0000
@@ -0,0 +1,21 @@
+#ifndef L298LIB_h
+#define L298LIB_h
+#include "mbed.h"
+class L298LIB
+{
+ public:
+ L298LIB(PinName pinEnable, PinName pinIN1, PinName pinIN2, PinName pinIN3, PinName pinIN4);
+ void setSpeed(float pwmVal);
+ float getSpeed();
+ void forward();
+ void backward();
+ void stop();
+ void run(float velocity);
+ private:
+ PwmOut _pwm;
+ DigitalOut _pinIN1;
+ DigitalOut _pinIN2;
+ DigitalOut _pinIN3;
+ DigitalOut _pinIN4;
+};
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Jun 04 05:41:18 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file