Diff: HBridge.cpp

Revision:

0:16208393c7ae

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HBridge.cpp	Thu Sep 20 11:36:17 2012 +0000
@@ -0,0 +1,118 @@
+#include "HBridge.h"
+
+HBridge::HBridge(PinName A, PinName B, PinName en): enable(en),Adrive(A),Bdrive(B)
+{
+    speed_value = 1;
+    power_status = false;
+    A_value = false;
+    B_value = false;
+    stored_direction = true;
+    set();
+}
+    
+void HBridge::stop()
+{
+    power_status = true;
+    A_value = false;
+    B_value = false;
+    set();
+}
+
+void HBridge::start()
+{
+    direction(true);
+    power_status = true;
+    set();
+}
+
+void HBridge::power(float power_in)
+{
+    if(power_in <= 0)
+    {
+        speed_value = 0;
+    }
+    else
+    {
+        speed_value = power_in;
+    }
+    set();
+}
+
+void HBridge::speed(float speed_in)
+{
+    if(speed_in < 0)
+    {
+        power(speed_in * -1);
+        direction(false);
+    }
+    else
+    {
+        power(speed_in);
+        direction(true);
+    }
+}
+
+void HBridge::power(bool onoff)
+{
+    power_status = onoff;
+    set();
+}
+
+void HBridge::soft_stop()
+{
+    power_status = false;
+    set();
+}
+
+
+void HBridge::forward()
+{
+    direction(true);
+    power(true);
+}
+
+
+void HBridge::backward()
+{
+    direction(false);
+    power(true);
+}
+
+
+void HBridge::forward(float speed_in)
+{
+    speed(speed_in);
+    forward();
+}
+
+
+void HBridge::backward(float speed_in)
+{
+    speed(speed_in);
+    backward();
+}
+
+void HBridge::direction(bool direction_in)
+{
+    stored_direction = direction_in;
+    A_value = stored_direction;
+    B_value = !stored_direction;
+    set();
+}
+
+void HBridge::A(bool highlow)
+{
+    A_value = highlow;
+}
+
+void HBridge::B(bool highlow)
+{
+    B_value = highlow;
+}
+
+void HBridge::set()
+{
+    Adrive = A_value & power_status;
+    Bdrive = B_value & power_status;
+    enable = speed_value * float(power_status);
+}
\ No newline at end of file