Diff: IBT2.h

Revision:

0:ea214158c2fb

Child:

1:fe72c69ab361

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IBT2.h	Fri Jul 31 20:05:31 2015 +0000
@@ -0,0 +1,74 @@
+/* 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.
+ */
+
+#ifndef MBED_IBT2_H
+#define MBED_IBT2_H
+
+#include "mbed.h"
+ 
+/** Interface to the IBT-2 H-bridge motor controller
+ *
+ * Control a DC motor connected to the IBT-2 H-bridge using one of two modes:
+ * Mode 1:
+ *     2 PwmOuts and 1 DigitalOut
+ *     - L_PWM controlled with a PwmOut
+ *     - R_PWM controlled with a PwmOut
+ *     - L_EN, R_EN connected to a DigitalOut (High is Enabled)
+ * Mode 1:
+ *     2 PwmOuts and 1 DigitalOut
+ *     - L_PWM controlled with a PwmOut
+ *     - R_PWM controlled with a PwmOut
+ *     - L_EN, R_EN connected to a DigitalOut (High is Enabled)
+ * For now, only Mode 1 is used.
+ */
+class IBT2 {
+public:
+    /** Create an IBT-2 control interface    
+     *
+     * @param L_pwm A PwmOut pin, driving the L_PWM H-bridge line to control the forward speed.
+     * @param R_pwm A PwmOut pin, driving the R_PWM H-bridge line to control the reverse speed.
+     * @param en A DigitalOut pin, driving the L_EN and R_EN H-bridge enable lines.
+     * @param freq The frequency of the H-bridge PWM lines in Hz.
+     */
+    IBT2(PinName L_pwm, PinName R_pwm, PinName en, float freq);
+    
+    /** Set the speed and direction of the motor
+     * 
+     * @param speed The speed of the motor as a normalized value between -1.0 and 1.0. Use a positive value for forward and a negative value for reverse.
+     */
+    void setSpeed(float speed);
+    
+    /** Get the speed and direction of the motor
+     * 
+     * @returns float The speed of the motor as a normalized value between -1.0 and 1.0. A positive value is forward and a negative value is reverse.
+     */
+    float getSpeed(void);
+
+protected:
+    PwmOut _L_pwm;
+    PwmOut _R_pwm;
+    DigitalOut _en;
+    float _period;
+    float _speed;
+};
+
+#endif /* MBED_IBT2_H */