File content as of revision 8:36e2cd31ccf3:

#include "mbed.h"
#include "MCP23017.h"
#include "TextLCD.h"    //if using diagnostic

#ifndef BRIDGEDRIVER_H
#define BRIDGEDRIVER_H


#define DEFAULT_PWM_PERIOD 0.0002

//pin definitions
#define PIN_CH1 P1_18 //hardware PWM1[1]
#define PIN_CH2 P2_0  //hardware PWM1[1]
#define PIN_CH3 P1_20 //hardware PWM1[2]
#define PIN_CH4 P2_1  //hardware PWM1[2]
#define PIN_CH5 P1_21 //hardware PWM1[3]
#define PIN_CH6 P1_23 //hardware PWM1[4]
#define PIN_CH7 P1_24 //hardware PWM1[5]
#define PIN_CH8 P1_26 //hardware PWM1[6]


#define EN_ADDR  0x40 //i2c address of enable pin port expander
#define LED_ADDR 0x4E //i2c address of button and LED port expander


class BridgeDriver{
     
    
    public:
        enum  Motors{ MOTOR_A, 
                  MOTOR_B, 
                  MOTOR_C, 
                  MOTOR_D 
                };
        
        
        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();
        
        void enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD);
        void enablePwm(Motors motor, uint8_t enPwm);

        
        void enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD);  //1 - drives output to GND when off; 0 - floats output when off
        void enableBraking(Motors motor, uint8_t enBrake);
        
        int forceBrake(uint8_t ch);             //force a specific channel to GND without changing braking default
        int forceBrake(Motors motor);     //force a specific motor to GND without changing braking default
        int forceFloat(uint8_t ch);             //force a specific channel to float without changing braking default
        int forceFloat(Motors motor);     //force a specific motor to float without changing braking default
        
        int drive(uint8_t state);
        int drive(uint8_t ch, uint8_t on);
        float drive(Motors motor, float speed); //speed from -1 to 1, speed of 0 will coast or brake depending on setting of _braking
        float drive(Motors motor, 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);
        void setPWMperiod(float newPWMperiod);
        
        
        
    private:
        DigitalOut *_d[8];
        PwmOut *_p[8];
        MCP23017 *_EnCtl;
        MCP23017 *_IO;
        I2C *_i2c;
        uint8_t _enAddr;
        uint8_t _ledAddr;
        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
        float _PWMperiod;
        
        void enableCh(uint8_t ch, uint8_t en);
        void setLed(uint8_t ch, uint8_t en);
        void setLed(uint8_t state);
        void setPwm(uint8_t ch, uint8_t en);
        
        
        
};
    


#endif