Revision 0:08d0e159793b, committed 2015-12-03

Comitter:

mitchpang

Date:

Thu Dec 03 06:35:58 2015 +0000

Commit message:

First Commit. Base code taken From TB6612FNG library by Robert Abad

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RioRandHBridge.cpp	Thu Dec 03 06:35:58 2015 +0000
@@ -0,0 +1,93 @@
+/* File: RioRandHBridge.h
+ * Author: Mitchell Pang      Copyright (c) 2013
+ *
+ * Desc: driver for RioRandHBridge Motor Driver.  For further details see
+ *       header file, RioRandHBridge.h
+ */
+
+#include "mbed.h"
+#include "RioRandHBridge.h"
+
+#define SIGNAL_HIGH     (1)
+#define SIGNAL_LOW      (0)
+
+RioRandHBridge::RioRandHBridge( PinName pinPwm1, PinName pinDir1,
+                      PinName pinPwm2, PinName pinDir2
+                      ) :
+pwm1(pinPwm1),
+Dir1(pinDir1),
+pwm2(pinPwm2),
+Dir2(pinDir2)
+{
+    Dir1 = SIGNAL_LOW;
+    Dir2 = SIGNAL_LOW;
+    pwm1.period(RioRandHBridge_PWM_PERIOD_DEFAULT);
+    pwm1 = RioRandHBridge_PWM_PULSEWIDTH_DEFAULT;
+    pwm2.period(RioRandHBridge_PWM_PERIOD_DEFAULT);
+    pwm2 = RioRandHBridge_PWM_PULSEWIDTH_DEFAULT;
+}
+
+void RioRandHBridge::setpwm1(float fPeriod, float fPulsewidth)
+{
+    pwm1.period(fPeriod);
+    pwm1 = fPulsewidth;
+}
+
+void RioRandHBridge::setpwm1period(float fPeriod)
+{
+    pwm1.period(fPeriod);
+}
+
+void RioRandHBridge::setpwm1pulsewidth(float fPulsewidth)
+{
+    pwm1 = fPulsewidth;
+}
+
+void RioRandHBridge::setpwm2(float fPeriod, float fPulsewidth)
+{
+    pwm2.period(fPeriod);
+    pwm2 = fPulsewidth;
+}
+
+void RioRandHBridge::setpwm2period(float fPeriod)
+{
+    pwm2.period(fPeriod);
+}
+
+void RioRandHBridge::setpwm2pulsewidth(float fPulsewidth)
+{
+    pwm2 = fPulsewidth;
+}
+
+
+void RioRandHBridge::motor1_stop(void)
+{
+    pwm1 = 0.0;
+}
+
+void RioRandHBridge::motor1_ccw(void)
+{
+    Dir1 = SIGNAL_LOW;
+}
+
+void RioRandHBridge::motor1_cw(void)
+{
+    Dir1 = SIGNAL_HIGH;
+}
+
+void RioRandHBridge::motor2_stop(void)
+{
+    pwm2 = 0.0;
+}
+
+void RioRandHBridge::motor2_ccw(void)
+{
+    Dir2 = SIGNAL_LOW;
+}
+
+void RioRandHBridge::motor2_cw(void)
+{
+    Dir2 = SIGNAL_HIGH;
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RioRandHBridge.h	Thu Dec 03 06:35:58 2015 +0000
@@ -0,0 +1,35 @@
+#ifndef __RRANDHBRIDGE_H__
+#define __RRANDHBridge_H__
+
+#include "mbed.h"
+
+#define RioRandHBridge_PWM_PERIOD_DEFAULT      (0.00002)   // 50KHz
+#define RioRandHBridge_PWM_PULSEWIDTH_DEFAULT  (0.50)      // 50% duty cycle
+ 
+class RioRandHBridge
+{
+public:
+    RioRandHBridge( PinName pinPwm1, PinName pinDir1,
+               PinName pinPwm2, PinName pinDir2
+               );
+    void setpwm1(float fPeriod, float fPulsewidth);
+    void setpwm1period(float fPeriod);
+    void setpwm1pulsewidth(float fPulsewidth);
+    void setpwm2(float fPeriod, float fPulsewidth);
+    void setpwm2period(float fPeriod);
+    void setpwm2pulsewidth(float fPulsewidth);
+    void motor1_stop(void);
+    void motor1_ccw(void);
+    void motor1_cw(void);
+    void motor2_stop(void);
+    void motor2_ccw(void);
+    void motor2_cw(void);
+    
+public:
+    PwmOut pwm1;
+    DigitalOut Dir1;
+    PwmOut pwm2;
+    DigitalOut Dir2;
+};
+
+#endif /* __RRANDHBRIDGE_H__ */
\ No newline at end of file