Patrick Clary
Library for driving a motor with a DRV8833 motor driver or similar.
Diff: Motor.cpp
- Revision:
- 0:0d650a332dcc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Sun Oct 19 07:51:25 2014 +0000
@@ -0,0 +1,42 @@
+#include "Motor.h"
+
+
+Motor::Motor(PinName pin1, PinName pin2) : pwm1(pin1), pwm2(pin2)
+{
+ const float period = 1/20000.0f;
+
+ pwm1.period(period);
+ pwm2.period(period);
+
+ pwm1 = 0.0f;
+ pwm2 = 0.0f;
+}
+
+
+void Motor::speed(float value)
+{
+ if (value < 0.0f)
+ {
+ pwm1 = value;
+ pwm2 = 0.0f;
+ }
+ else
+ {
+ pwm1 = 0.0f;
+ pwm2 = -value;
+ }
+}
+
+
+Motor& Motor::operator=(float value)
+{
+ speed(value);
+ return *this;
+}
+
+
+void Motor::brake()
+{
+ pwm1 = 1.0f;
+ pwm2 = 1.0f;
+}