HBridge.cpp

00001 #include "HBridge.h"
00002 
00003 HBridge::HBridge(PinName A, PinName B, PinName en): enable(en),Adrive(A),Bdrive(B)
00004 {
00005     speed_value = 1;
00006     power_status = false;
00007     A_value = false;
00008     B_value = false;
00009     stored_direction = true;
00010     set();
00011 }
00012     
00013 void HBridge::stop()
00014 {
00015     power_status = true;
00016     A_value = false;
00017     B_value = false;
00018     set();
00019 }
00020 
00021 void HBridge::start()
00022 {
00023     direction(true);
00024     power_status = true;
00025     set();
00026 }
00027 
00028 void HBridge::power(float power_in)
00029 {
00030     if(power_in <= 0)
00031     {
00032         speed_value = 0;
00033     }
00034     else
00035     {
00036         speed_value = power_in;
00037     }
00038     set();
00039 }
00040 
00041 void HBridge::speed(float speed_in)
00042 {
00043     if(speed_in < 0)
00044     {
00045         power(speed_in * -1);
00046         direction(false);
00047     }
00048     else
00049     {
00050         power(speed_in);
00051         direction(true);
00052     }
00053 }
00054 
00055 void HBridge::power(bool onoff)
00056 {
00057     power_status = onoff;
00058     set();
00059 }
00060 
00061 void HBridge::soft_stop()
00062 {
00063     power_status = false;
00064     set();
00065 }
00066 
00067 
00068 void HBridge::forward()
00069 {
00070     direction(true);
00071     power(true);
00072 }
00073 
00074 
00075 void HBridge::backward()
00076 {
00077     direction(false);
00078     power(true);
00079 }
00080 
00081 
00082 void HBridge::forward(float speed_in)
00083 {
00084     speed(speed_in);
00085     forward();
00086 }
00087 
00088 
00089 void HBridge::backward(float speed_in)
00090 {
00091     speed(speed_in);
00092     backward();
00093 }
00094 
00095 void HBridge::direction(bool direction_in)
00096 {
00097     stored_direction = direction_in;
00098     A_value = stored_direction;
00099     B_value = !stored_direction;
00100     set();
00101 }
00102 
00103 void HBridge::A(bool highlow)
00104 {
00105     A_value = highlow;
00106 }
00107 
00108 void HBridge::B(bool highlow)
00109 {
00110     B_value = highlow;
00111 }
00112 
00113 void HBridge::set()
00114 {
00115     Adrive = A_value & power_status;
00116     Bdrive = B_value & power_status;
00117     enable = speed_value * float(power_status);
00118 }