File content as of revision 5:b5f360a16354:

#ifndef DualVNH5019MotorShield_h
#define DualVNH5019MotorShield_h

#include <mbed.h>

class VNH5019
{
    public:
        VNH5019(PinName INA_, PinName INB_, PinName ENDIAG_, PinName CS_, PinName PWM_);
        
        // set motor speed from -1.0 to +1.0
        void speed(float Speed);

        // stop (no current to the motors)
        void stop();        
    
        // Brake, with strength 0..1
        void brake(float Brake);

        // returns the current through the motor, in mA
        float get_current_mA();

        // returns true if there has been a fault
        bool is_fault();

        // Clears the fault condition
        // PRECONDITION: is_fault()
        void clear_fault();

        // disable the motor, and set outputs to zero.  This is a low power mode.
        void disable();

        // enable the motor.        
        void enable();
        
        // set the PWM period of oscillation in seconds
        void set_pwm_period(float p)
        { PWM.period(p); }

    private:
        void init();

        DigitalOut   INA;
        DigitalOut   INB;
        DigitalInOut ENDIAG;
        AnalogIn     CS;
        PwmOut       PWM;
};        

// Helper class for the Pololu dual VNH5019 motor shield.
// The default constructor uses the default arduino pins.
// The motors can be accessed either by .m1 or .m2, or by operator()(i) where i is 1 or 2.
class DualVNH5019MotorShield
{
   public:
      // default pin selection
      DualVNH5019MotorShield(); // Default pin selection.

                              // User-defined pin selection. 
      DualVNH5019MotorShield(PinName INA1_, PinName INB1_, PinName ENDIAG1_, PinName CS1_, PinName PWM1_,
                             PinName INA2_, PinName INB2_, PinName ENDIAG2_, PinName CS2_, PinName PWM2_);
    
      // returns the given motor object, 1 or 2.
      VNH5019& operator()(int m);

      VNH5019 m1;
      VNH5019 m2;
};

inline
void VNH5019::stop()
{
    INA = 0;
    INB = 0;
    PWM = 0.0;
}

inline
void VNH5019::brake(float Brake)
{
   // normalize Brake to 0..1
   if (Brake < 0)
      Brake = -Brake;
   if (Brake > 1.0)
      Brake = 1.0;

   INA = 0;
   INB = 0;
   PWM = Brake;
}

inline
float VNH5019::get_current_mA()
{
   // Scale is 144mV per A
   // Scale factor is 3.3 / 0.144 = 22.916667
   return CS.read() * 22.916667;
}

inline
bool VNH5019::is_fault()
{
  return !ENDIAG;
}

inline
void VNH5019::disable()
{
    ENDIAG.output();
    ENDIAG.write(0);
}

inline    
void VNH5019::enable()
{
    ENDIAG.input();
}

inline
DualVNH5019MotorShield::DualVNH5019MotorShield()
: m1(PTD4, PTA4, PTC8, PTB0, PTD5),
  m2(PTC9, PTA13, PTD3, PTB1, PTD0)
{
}

inline
DualVNH5019MotorShield::DualVNH5019MotorShield(PinName INA1_, PinName INB1_, PinName ENDIAG1_, PinName CS1_, PinName PWM1_,
                                               PinName INA2_, PinName INB2_, PinName ENDIAG2_, PinName CS2_, PinName PWM2_)
 : m1(INA1_, INB1_, ENDIAG1_, CS1_, PWM1_),
   m2(INA2_, INB2_, ENDIAG2_, CS2_, PWM2_)
{
}

inline
VNH5019& 
DualVNH5019MotorShield::operator()(int m)
{
    return m == 1 ? m1 : m2;
}


#endif