Kei Ohta / Motor

Mechatronics projectA'

Fork of Motor by Simon Ford

Motor.h@2:f265e441bcd9, 2010-11-23 (annotated)

Committer:
simon
Date:
Tue Nov 23 16:16:43 2010 +0000
Revision:
2:f265e441bcd9
Parent:
1:e341f695742a 
Converted to a library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simon 0:a470311addc4 1 /* mbed simple H-bridge motor controller
simon 2:f265e441bcd9 2 * Copyright (c) 2007-2010, sford, http://mbed.org
simon 0:a470311addc4 3 *
simon 0:a470311addc4 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
simon 0:a470311addc4 5 * of this software and associated documentation files (the "Software"), to deal
simon 0:a470311addc4 6 * in the Software without restriction, including without limitation the rights
simon 0:a470311addc4 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
simon 0:a470311addc4 8 * copies of the Software, and to permit persons to whom the Software is
simon 0:a470311addc4 9 * furnished to do so, subject to the following conditions:
simon 0:a470311addc4 10 *
simon 0:a470311addc4 11 * The above copyright notice and this permission notice shall be included in
simon 0:a470311addc4 12 * all copies or substantial portions of the Software.
simon 0:a470311addc4 13 *
simon 0:a470311addc4 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
simon 0:a470311addc4 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
simon 0:a470311addc4 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
simon 0:a470311addc4 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
simon 0:a470311addc4 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
simon 0:a470311addc4 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
simon 0:a470311addc4 20 * THE SOFTWARE.
simon 0:a470311addc4 21 */
simon 0:a470311addc4 22
simon 0:a470311addc4 23 #ifndef MBED_MOTOR_H
simon 0:a470311addc4 24 #define MBED_MOTOR_H
simon 0:a470311addc4 25
simon 0:a470311addc4 26 #include "mbed.h"
simon 0:a470311addc4 27
simon 1:e341f695742a 28 /** Interface to control a standard DC motor
simon 2:f265e441bcd9 29 *
simon 1:e341f695742a 30 * with an H-bridge using a PwmOut and 2 DigitalOuts
simon 1:e341f695742a 31 */
simon 0:a470311addc4 32 class Motor {
simon 0:a470311addc4 33 public:
simon 1:e341f695742a 34
simon 1:e341f695742a 35 /** Create a motor control interface
simon 1:e341f695742a 36 *
simon 1:e341f695742a 37 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
simon 1:e341f695742a 38 * @param fwd A DigitalOut, set high when the motor should go forward
simon 1:e341f695742a 39 * @param rev A DigitalOut, set high when the motor should go backwards
simon 1:e341f695742a 40 */
simon 0:a470311addc4 41 Motor(PinName pwm, PinName fwd, PinName rev);
simon 1:e341f695742a 42
simon 1:e341f695742a 43 /** Set the speed of the motor
simon 1:e341f695742a 44 *
simon 1:e341f695742a 45 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
simon 1:e341f695742a 46 */
simon 1:e341f695742a 47 void speed(float speed);
simon 0:a470311addc4 48
simon 0:a470311addc4 49 protected:
simon 0:a470311addc4 50 PwmOut _pwm;
simon 0:a470311addc4 51 DigitalOut _fwd;
simon 0:a470311addc4 52 DigitalOut _rev;
simon 0:a470311addc4 53
simon 0:a470311addc4 54 };
simon 0:a470311addc4 55
simon 0:a470311addc4 56 #endif