Motor.cpp

00001 /* mbed simple H-bridge motor controller
00002  * Copyright (c) 2007-2010, sford, http://mbed.org
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #include "Motor.h"
00024 
00025 #include "mbed.h"
00026 
00027 Motor::Motor(PinName en, PinName fwd, PinName rev):
00028         _en(en), _fwd(fwd), _rev(rev) {
00029 
00030     // Set initial condition for the enable pin
00031     _en = 0;
00032     
00033     // Initial condition of output enables
00034     _fwd = 0;
00035     _rev = 0;
00036 }
00037 
00038 // direct the motor in a specific direction or stop it
00039 void Motor::direct(int dir) {
00040     _fwd = (dir > 0);
00041     _rev = (dir < 0);
00042     _en = !(dir == 0);
00043 }
00044 
00045 /* emulate pwm for a specified time interval */
00046 void Motor::speed(float timeval, float speed) {
00047     float wait_time = 1/(speed * 10);
00048     for (int i = 0; i < timeval; i += 0.1 ) {
00049         _en = 0;
00050         wait(wait_time/2);
00051         _en = 1;
00052         wait(wait_time);
00053     }
00054 
00055 }
00056 
00057 mState Motor::getState()
00058 {
00059     mState temp = { _en, _fwd, _rev };
00060     return temp;
00061 }
00062 
00063 void Motor::setState(mState pinState) 
00064 {
00065     _en = pinState.en;
00066     _fwd = pinState.fwd;
00067     _rev = pinState.rev;
00068 }
00069