Giles Barton-Owen
A simple Hbridge driver library (tested with the L293D). It uses a PWM pin on the enable and two DIOs on the control pins. Versatile.
Dependents: RSALB_hbridge_helloworld RSALB_lobster uva_nc
HBridge Class Reference
A simple HBridge controller library. More...
#include <HBridge.h>
Public Member Functions | |
| HBridge (PinName A, PinName B, PinName en) | |
| Creates an instance of the HBridge class. | |
| void | stop () |
| Hard stops the motor. | |
| void | start () |
| Starts the motor. | |
| void | speed (float speed_in) |
| Sets the PWM output of the enable pin and therefore the speed of the motor. | |
| void | power (bool onoff) |
| Turn off and on the enable pin. | |
| void | power (float power_in) |
| Set the pwm value of the enable pin. | |
| void | soft_stop () |
| Soft stop the motor. | |
| void | forward () |
| Go forward, starts the motor. | |
| void | backward () |
| Go backward, starts the motor. | |
| void | forward (float speed_in) |
| Go forward, starts the motor. | |
| void | backward (float speed_in) |
| Go backward, starts the motor. | |
| void | A (bool highlow) |
| Set A high or low. | |
| void | B (bool highlow) |
| Set B high or low. | |
| void | direction (bool direction_in) |
| Set the direction of travel. | |
Detailed Description
A simple HBridge controller library.
Definition at line 39 of file HBridge.h.
Constructor & Destructor Documentation
| HBridge | ( | PinName | A, |
| PinName | B, | ||
| PinName | en | ||
| ) |
Creates an instance of the HBridge class.
- Parameters:
-
A The pin the "A" line is connected to (naming taken from the L293D). B The pin the "B" line is connected to (naming taken from the L293D). en The pin the enable line is connected to.]
Definition at line 3 of file HBridge.cpp.
Member Function Documentation
| void A | ( | bool | highlow ) |
Set A high or low.
- Parameters:
-
highlow Set the high/low state of the A half-bridge (high(true))
Definition at line 103 of file HBridge.cpp.
| void B | ( | bool | highlow ) |
Set B high or low.
- Parameters:
-
highlow Set the high/low state of the B half-bridge (high(true))
Definition at line 108 of file HBridge.cpp.
| void backward | ( | ) |
Go backward, starts the motor.
Definition at line 75 of file HBridge.cpp.
| void backward | ( | float | speed_in ) |
Go backward, starts the motor.
- Parameters:
-
speed_in The float value of the desired speed between 0 and 1
Definition at line 89 of file HBridge.cpp.
| void direction | ( | bool | direction_in ) |
Set the direction of travel.
- Parameters:
-
direction_in Forward = true
Definition at line 95 of file HBridge.cpp.
| void forward | ( | float | speed_in ) |
Go forward, starts the motor.
- Parameters:
-
speed_in The float value of the desired speed between 0 and 1
Definition at line 82 of file HBridge.cpp.
| void forward | ( | ) |
Go forward, starts the motor.
Definition at line 68 of file HBridge.cpp.
| void power | ( | float | power_in ) |
Set the pwm value of the enable pin.
- Parameters:
-
power_in The value of the pwm enable pins
Definition at line 28 of file HBridge.cpp.
| void power | ( | bool | onoff ) |
Turn off and on the enable pin.
- Parameters:
-
onoff Enable the motor or not (on(true))
Definition at line 55 of file HBridge.cpp.
| void soft_stop | ( | ) |
Soft stop the motor.
Definition at line 61 of file HBridge.cpp.
| void speed | ( | float | speed_in ) |
Sets the PWM output of the enable pin and therefore the speed of the motor.
- Parameters:
-
speed_in The float value of the desired speed between -1 and 1
Definition at line 41 of file HBridge.cpp.
| void start | ( | ) |
Starts the motor.
Definition at line 21 of file HBridge.cpp.
| void stop | ( | ) |
Hard stops the motor.
Definition at line 13 of file HBridge.cpp.
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