Austin Hague / Mbed 2 deprecated Lab3_A

Lab 3

Dependencies:   Motor Servo mbed

Motor.h@0:cb674e873f8e, 2015-10-12 (annotated)

Committer:
m182376
Date:
Mon Oct 12 17:54:27 2015 +0000
Revision:
0:cb674e873f8e
Lab 3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m182376 0:cb674e873f8e 1 /* mbed simple H-bridge motor controller
m182376 0:cb674e873f8e 2 * Copyright (c) 2007-2010, sford, http://mbed.org
m182376 0:cb674e873f8e 3 *
m182376 0:cb674e873f8e 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
m182376 0:cb674e873f8e 5 * of this software and associated documentation files (the "Software"), to deal
m182376 0:cb674e873f8e 6 * in the Software without restriction, including without limitation the rights
m182376 0:cb674e873f8e 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
m182376 0:cb674e873f8e 8 * copies of the Software, and to permit persons to whom the Software is
m182376 0:cb674e873f8e 9 * furnished to do so, subject to the following conditions:
m182376 0:cb674e873f8e 10 *
m182376 0:cb674e873f8e 11 * The above copyright notice and this permission notice shall be included in
m182376 0:cb674e873f8e 12 * all copies or substantial portions of the Software.
m182376 0:cb674e873f8e 13 *
m182376 0:cb674e873f8e 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
m182376 0:cb674e873f8e 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
m182376 0:cb674e873f8e 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
m182376 0:cb674e873f8e 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
m182376 0:cb674e873f8e 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
m182376 0:cb674e873f8e 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
m182376 0:cb674e873f8e 20 * THE SOFTWARE.
m182376 0:cb674e873f8e 21 */
m182376 0:cb674e873f8e 22
m182376 0:cb674e873f8e 23 #ifndef MBED_MOTOR_H
m182376 0:cb674e873f8e 24 #define MBED_MOTOR_H
m182376 0:cb674e873f8e 25
m182376 0:cb674e873f8e 26 #include "mbed.h"
m182376 0:cb674e873f8e 27
m182376 0:cb674e873f8e 28 /** Interface to control a standard DC motor
m182376 0:cb674e873f8e 29 *
m182376 0:cb674e873f8e 30 * with an H-bridge using a PwmOut and 2 DigitalOuts
m182376 0:cb674e873f8e 31 */
m182376 0:cb674e873f8e 32 class Motor {
m182376 0:cb674e873f8e 33 public:
m182376 0:cb674e873f8e 34
m182376 0:cb674e873f8e 35 /** Create a motor control interface
m182376 0:cb674e873f8e 36 *
m182376 0:cb674e873f8e 37 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
m182376 0:cb674e873f8e 38 * @param fwd A DigitalOut, set high when the motor should go forward
m182376 0:cb674e873f8e 39 * @param rev A DigitalOut, set high when the motor should go backwards
m182376 0:cb674e873f8e 40 */
m182376 0:cb674e873f8e 41 Motor(PinName pwm, PinName fwd, PinName rev);
m182376 0:cb674e873f8e 42
m182376 0:cb674e873f8e 43 /** Set the speed of the motor
m182376 0:cb674e873f8e 44 *
m182376 0:cb674e873f8e 45 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
m182376 0:cb674e873f8e 46 */
m182376 0:cb674e873f8e 47 void speed(float speed);
m182376 0:cb674e873f8e 48
m182376 0:cb674e873f8e 49 protected:
m182376 0:cb674e873f8e 50 PwmOut _pwm;
m182376 0:cb674e873f8e 51 DigitalOut _fwd;
m182376 0:cb674e873f8e 52 DigitalOut _rev;
m182376 0:cb674e873f8e 53
m182376 0:cb674e873f8e 54 };
m182376 0:cb674e873f8e 55
m182376 0:cb674e873f8e 56 #endif