Diff: motor.cpp

Revision:

0:52cb035f23fa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Thu Jan 17 17:01:11 2019 +0000
@@ -0,0 +1,98 @@
+/** A Motor Driver, used for setting the pins for PWM Outpu
+   *  for use with ROCO104
+   *
+   * @note Synchronization level: Interrupt safe
+   *
+   * Example:
+   * @code
+   * // Toggle a LED
+   * #include "mbed.h"
+   *
+   * Motor Wheels(D15,D14,D13,D12);
+   *
+   * int main()
+   * {    
+   *     Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
+   *     while(true)
+   *     {
+   *         Wheel.Speed(0.8,0.8);//Forward 80%
+   *         wait(5.0);
+   *         Wheel.stop();
+   *         wait(1.0);
+   *         Wheel.Speed(-0.8,-0.8);//Reverse 80%
+   *         wait(5.0);
+   *         Wheel.stop();
+   *         wait(1.0);
+   *     }
+   * }
+   * @endcode
+*/
+
+#include "motor.h"
+Motor::Motor(PinName pinName1, PinName pinName2, PinName pinName3, PinName pinName4) : pin1(pinName1), pin2(pinName2), pin3(pinName3), pin4(pinName4)
+{
+}
+void Motor::Fwd(float duty)
+{ 
+    this->pin1 = 0.0f;
+    this->pin2 = duty;
+    this->pin3 = 0.0f;
+    this->pin4 = duty;
+}
+void Motor::Rev(float duty)
+{
+    this->pin1 = duty;
+    this->pin2 = 0.0f;
+    this->pin3 = duty;
+    this->pin4 = 0.0f;
+}
+void Motor::Stop(void)
+{
+    this->pin1 = 0.0f;
+    this->pin2 = 0.0f;
+    this->pin3 = 0.0f;
+    this->pin4 = 0.0f;
+}
+int Motor::Speed(float speedA, float speedB)
+{
+  if(speedA>1.0f||speedA<-1.0f){ //CHECK speedA Value is in Range!
+      return -1;                  //return ERROR code -1=speedA Value out of range! EXIT Function
+   }
+   if(speedB>1.0f||speedA<-1.0f){ //CHECK speedB Value is in Range!
+      return -2;                  //return ERROR code -2=speedB Value out of range! EXIT Function
+   }
+ 
+   //If speed values have passed the checks above then the following code will be executed
+   
+   if(speedA<0.0f)
+   { //Reverse A motor
+        this->pin1 = -speedA;
+        this->pin2 = 0.0f;
+   }
+   
+   else
+   { //Forward A motor
+        this->pin1 = 0.0f;
+        this->pin2 = speedA;
+   }
+   
+   if(speedB<0.0f)
+   { //Reverse B motor
+        this->pin3 = -speedB;
+        this->pin4 = 0.0f;
+   }
+   else
+   { //Forward B motor
+        this->pin3 = 0.0f;
+        this->pin4 = speedB;
+   }
+   return 0;                      //Return ERROR code Zero i.e. NO ERROR success!
+}
+
+void Motor::Period_in_ms(int msPeriod)
+{
+    this->pin1.period_ms(msPeriod);
+    this->pin2.period_ms(msPeriod);
+    this->pin3.period_ms(msPeriod);
+    this->pin4.period_ms(msPeriod);
+}