Revision 0:16208393c7ae, committed 2012-09-20

Comitter:

p07gbar

Date:

Thu Sep 20 11:36:17 2012 +0000

Commit message:

Working, Documented

Changed in this revision

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HBridge.h	Thu Sep 20 11:36:17 2012 +0000
@@ -0,0 +1,137 @@
+/**
+* @author Giles Barton-Owen
+*
+* @section LICENSE
+*
+* Copyright (c) 2012 mbed
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*
+* @section DESCRIPTION
+*    A simple library to control an H-Bridge driver using two DIO and a PWM pin
+*
+*/ 
+
+
+#ifndef HBRIDGERAW_H
+#define HBRIDGERAW_H
+
+#include "mbed.h"
+
+/** A simple HBridge controller library
+ */
+class HBridge
+{
+    public:
+    /** Creates an instance of the HBridge class
+     *
+     * @param A The pin the "A" line is connected to (naming taken from the L293D).
+     * @param B The pin the "B" line is connected to (naming taken from the L293D).
+     * @param en The pin the enable line is connected to.]
+     */
+    HBridge(PinName A, PinName B, PinName en);
+    
+    /** Hard stops the motor
+     */
+    void stop();
+    
+    /** Starts the motor
+     */
+    void start();
+    
+    /** Sets the PWM output of the enable pin and therefore the speed of the motor
+     *
+     * @param speed_in The float value of the desired speed between -1 and 1
+     */
+    void speed(float speed_in);
+    
+    /** Turn off and on the enable pin
+     *
+     * @param onoff Enable the motor or not (on(true))
+     */
+    void power(bool onoff);
+    
+    /** Set the pwm value of the enable pin
+     *
+     * @param power_in The value of the pwm enable pins 
+     */
+    void power(float power_in);
+    
+    /** Soft stop the motor
+     */
+    void soft_stop();
+    
+    /** Go forward, starts the motor
+     */
+    void forward();
+    
+    /** Go backward, starts the motor
+     */
+    void backward();
+    
+    /** Go forward, starts the motor
+     *
+     * @param speed_in The float value of the desired speed between 0 and 1
+     */
+    void forward(float speed_in);
+    
+    /** Go backward, starts the motor
+     *
+     * @param speed_in The float value of the desired speed between 0 and 1
+     */
+    void backward(float speed_in);
+    
+    /** Set A high or low
+     *
+     * @param highlow Set the high/low state of the A half-bridge (high(true))
+     */
+    void A(bool highlow);
+    
+    /** Set B high or low
+     *
+     * @param highlow Set the high/low state of the B half-bridge (high(true))
+     */
+    void B(bool highlow);
+    
+    /** Set the direction of travel
+     * 
+     * @param direction_in Forward = true
+     */
+    void direction(bool direction_in);
+    
+    
+    private:
+    PwmOut enable;
+    DigitalOut Adrive;
+    DigitalOut Bdrive;
+    
+    bool power_status;
+    float speed_value;
+    bool A_value;
+    bool B_value;
+    bool stored_direction;
+    
+    void set();
+    
+    
+};
+
+
+
+#endif
\ No newline at end of file