Patrick Clary / Motor

Library for driving a motor with a DRV8833 motor driver or similar.

Dependents:   StarterBot

Motor.cpp@0:0d650a332dcc, 2014-10-19 (annotated)

Committer:
pclary
Date:
Sun Oct 19 07:51:25 2014 +0000
Revision:
0:0d650a332dcc
Code imported from Micromouse 2014

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pclary 0:0d650a332dcc 1 #include "Motor.h"
pclary 0:0d650a332dcc 2
pclary 0:0d650a332dcc 3
pclary 0:0d650a332dcc 4 Motor::Motor(PinName pin1, PinName pin2) : pwm1(pin1), pwm2(pin2)
pclary 0:0d650a332dcc 5 {
pclary 0:0d650a332dcc 6 const float period = 1/20000.0f;
pclary 0:0d650a332dcc 7
pclary 0:0d650a332dcc 8 pwm1.period(period);
pclary 0:0d650a332dcc 9 pwm2.period(period);
pclary 0:0d650a332dcc 10
pclary 0:0d650a332dcc 11 pwm1 = 0.0f;
pclary 0:0d650a332dcc 12 pwm2 = 0.0f;
pclary 0:0d650a332dcc 13 }
pclary 0:0d650a332dcc 14
pclary 0:0d650a332dcc 15
pclary 0:0d650a332dcc 16 void Motor::speed(float value)
pclary 0:0d650a332dcc 17 {
pclary 0:0d650a332dcc 18 if (value < 0.0f)
pclary 0:0d650a332dcc 19 {
pclary 0:0d650a332dcc 20 pwm1 = value;
pclary 0:0d650a332dcc 21 pwm2 = 0.0f;
pclary 0:0d650a332dcc 22 }
pclary 0:0d650a332dcc 23 else
pclary 0:0d650a332dcc 24 {
pclary 0:0d650a332dcc 25 pwm1 = 0.0f;
pclary 0:0d650a332dcc 26 pwm2 = -value;
pclary 0:0d650a332dcc 27 }
pclary 0:0d650a332dcc 28 }
pclary 0:0d650a332dcc 29
pclary 0:0d650a332dcc 30
pclary 0:0d650a332dcc 31 Motor& Motor::operator=(float value)
pclary 0:0d650a332dcc 32 {
pclary 0:0d650a332dcc 33 speed(value);
pclary 0:0d650a332dcc 34 return *this;
pclary 0:0d650a332dcc 35 }
pclary 0:0d650a332dcc 36
pclary 0:0d650a332dcc 37
pclary 0:0d650a332dcc 38 void Motor::brake()
pclary 0:0d650a332dcc 39 {
pclary 0:0d650a332dcc 40 pwm1 = 1.0f;
pclary 0:0d650a332dcc 41 pwm2 = 1.0f;
pclary 0:0d650a332dcc 42 }