Diff: IBT2.cpp

Revision:

0:ea214158c2fb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IBT2.cpp	Fri Jul 31 20:05:31 2015 +0000
@@ -0,0 +1,58 @@
+/* mbed IBT-2 H-bridge motor controller
+ * Copyright (c) 2015, rwunderl, http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "IBT2.h"
+
+IBT2::IBT2(PinName L_pwm, PinName R_pwm, PinName en, float freq):
+        _L_pwm(L_pwm), _R_pwm(R_pwm), _en(en) {
+    // Set initial conditions
+    _period = 1.0f / freq;    // in seconds
+    _L_pwm.period(_period);    // same period used for all PwmOuts
+    _L_pwm = 0.0;
+    //_R_pwm.period(_period);
+    _R_pwm = 0.0;
+    _en = 0;
+    _speed = 0.0;
+}
+
+void IBT2::setSpeed(float speed) {
+    _speed = speed;
+    if (_speed > 0.0f) {
+        _en = 1;
+        // forward
+        _L_pwm = _speed;
+        _R_pwm = 0.0;
+    } else if (_speed < 0.0f) {
+        _en = 1;
+        // reverse
+        _L_pwm = 0.0;
+        _R_pwm = -_speed;
+    } else /* _speed == 0.0 */ {
+        _en = 0;
+        _L_pwm = 0.0;
+        _R_pwm = 0.0;
+    }
+}
+
+float IBT2::getSpeed(void) {
+    return _speed;
+}