Diff: BridgeDriver.h

Revision:

1:c8e328389a98

Parent:

0:b1e3fa917367

Child:

4:87768972db3f

--- a/BridgeDriver.h	Thu Jul 03 17:09:29 2014 +0000
+++ b/BridgeDriver.h	Thu Jul 03 20:56:20 2014 +0000
@@ -2,6 +2,7 @@
 
 #include "mbed.h"
 #include "MCP23017.h"
+#include "TextLCD.h"    //if using diagnostic
 
 #define BRIDGEDRIVER_H
 
@@ -21,15 +22,17 @@
 
 
 class BridgeDriver{
-    enum Bridges{ BRIDGE_A, 
+     
+    
+    public:
+        enum Bridges{ BRIDGE_A, 
                   BRIDGE_B, 
                   BRIDGE_C, 
                   BRIDGE_D 
-                }; 
-    
-    public:
-    
-        BridgeDriver( I2C *i2c, const uint8_t enPwmA = 0, const uint8_t enPwmB = 0, const uint8_t enPwmC = 0, const uint8_t enPwmD = 0, const uint8_t enAddr = EN_ADDR, const uint8_t ledAddr = LED_ADDR);
+                };
+        
+        
+        BridgeDriver( I2C *i2c, uint8_t enPwmA = 0, uint8_t enPwmB = 0, uint8_t enPwmC = 0, uint8_t enPwmD = 0, uint8_t enAddr = EN_ADDR, uint8_t ledAddr = LED_ADDR);
         
         ~BridgeDriver();
         
@@ -51,6 +54,8 @@
         float drive(Bridges bridge, int8_t dir, float speed); 
             //dir: 1=fwd,  -1=rev, 0=brake (irregardless of setting of _braking
             //speed from 0 to 1, speed of 0 will coast or brake depending on setting of _braking
+            
+        void diagnostic(TextLCD_I2C *lcd);
         
         
         
@@ -62,10 +67,11 @@
         I2C *_i2c;
         uint8_t _enAddr;
         uint8_t _ledAddr;
-        uint8_t _pwm[4];      
-        int8_t  _dir[4];       //dir of 1 means lower # ch is driving, dir of -1 means higher number ch is driving
+        uint8_t _pwm[4];        //enabled full bridges
+        uint8_t _pwmCh;         //currently actie PWM pins
+        int8_t  _dir[4];        //dir of 1 means lower # ch is driving, dir of -1 means higher number ch is driving
         uint8_t _braking[4]; 
-        uint8_t _oldLedState; //for setLed functions. Kept external to overload function
+        uint8_t _oldLedState;   //for setLed functions. Kept external to overload function
         
         void enableCh(uint8_t ch, uint8_t en);
         void setLed(uint8_t ch, uint8_t en);