ZumoMotors.cpp

00001 /* File: DRV8835.cpp
00002  * Adopted from work by Cameron Isbell
00003  *
00004  * Description: library for DRV8835 Motor Driver
00005  * Assumptions: A is left and B is right
00006  */
00007  
00008 #include "mbed.h"
00009 #include "ZumoMotors.h"
00010  
00011  
00012 ZumoMotors::ZumoMotors( PinName pinPwmL, PinName pinLin,
00013                       PinName pinPwmR, PinName pinRin) :
00014 pwmL(pinPwmL),
00015 Lin(pinLin),
00016 pwmR(pinPwmR),
00017 Rin(pinRin)
00018 {
00019     Lin = 0;
00020     Rin = 0;
00021     pwmL.period(DRV8835_PWM_PERIOD_DEFAULT);
00022     pwmL = DRV8835_PWM_PULSEWIDTH_DEFAULT;
00023     pwmR.period(DRV8835_PWM_PERIOD_DEFAULT);
00024     pwmR = DRV8835_PWM_PULSEWIDTH_DEFAULT;
00025     motorL_stop();
00026     motorR_stop();
00027 }
00028  
00029 void ZumoMotors::stop()
00030 {
00031     motorL_stop();
00032     motorR_stop();
00033 }
00034  
00035 void ZumoMotors::motorL_stop(void)
00036 {
00037     pwmL = 0;
00038 }
00039  
00040 void ZumoMotors::motorR_stop(void)
00041 {
00042     pwmR = 0;
00043 }
00044  
00045 void ZumoMotors::setSpeeds(float Left,float Right)
00046 {
00047     //Set Right Speed and Direction
00048     if(Right<0)
00049     {
00050         motorR_rev(Right*-1);
00051     } else {
00052         motorR_fwd(Right);
00053     }
00054     
00055     //Set Left Speed and Direction
00056     if(Left<0)
00057     {
00058         motorL_rev(Left*-1);
00059     } else {
00060         motorL_fwd(Left);
00061     }
00062 }
00063  
00064 void ZumoMotors::motorL_fwd(float fPulsewidth)
00065 {
00066     Lin = 0;
00067     pwmL = fPulsewidth;
00068 }
00069 void ZumoMotors::motorL_rev(float fPulsewidth)
00070 {
00071     Lin = 1;
00072     pwmL = fPulsewidth;
00073 }
00074  
00075 void ZumoMotors::motorR_fwd(float fPulsewidth)
00076 {
00077     Rin = 0;
00078     pwmR = fPulsewidth;
00079 }
00080 void ZumoMotors::motorR_rev(float fPulsewidth)
00081 {
00082     Rin = 1;
00083     pwmR = fPulsewidth;
00084 }