Christopher Hasler / Motordriver Featured

motor drive libary to use speed control, coasting and dynamic braking. NOTE, dynamic braking my result in large currents. this may or may not set the motor driver on fire/break it/other undesired effects. so read the data sheet folks.

Dependents:   motordrivertestprogram Initialmbedrobotprogram mbedrobot ipod ... more

Diff: motordriver.cpp

Revision:
2:2dc873322032
Parent:
1:3da7302dc9ae
Child:
3:8822f4955035
diff -r 3da7302dc9ae -r 2dc873322032 motordriver.cpp
--- a/motordriver.cpp	Thu Nov 11 15:32:55 2010 +0000
+++ b/motordriver.cpp	Fri Nov 19 12:32:06 2010 +0000
@@ -46,30 +46,36 @@
     sign = 0;//i.e nothing.
 }
 
-void Motor::speed(float speed) {
+float Motor::speed(float speed) {
+    float temp = 0;
     if (sign == 0) {
         _fwd = (speed > 0.0);
         _rev = (speed < 0.0);
-        _pwm = abs(speed);
+        temp = abs(speed);
+        _pwm = temp;
     } else if (sign == 1) {
         if (speed < 0) {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
             _pwm = 0;
+            temp = 0;
         } else {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
-            _pwm = abs(speed);
+            temp = abs(speed);
+            _pwm = temp;
         }
     } else if (sign == -1) {
         if (speed > 0) {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
             _pwm = 0;
+            temp = 0;
         } else {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
-            _pwm = abs(speed);
+            temp = abs(speed);
+            _pwm = temp;
         }
     }
     if (speed > 0)
@@ -79,7 +85,7 @@
     } else if (speed == 0) {
         sign = 0;
     }
-
+    return temp;
 }
 //  (additions)
 void Motor::coast(void) {
@@ -89,14 +95,15 @@
     sign = 0;
 }
 
-void Motor::stop(void) {
+float Motor::stop(float duty) {
     if (Brakeable == 1) {
         _fwd = 1;
         _rev = 1;
-        _pwm = 0.5;
+        _pwm = duty;
         sign = 0;
+        return duty;
     } else
-        return;
+        return 0;
 }
 
 /*