Library for driving the IBT-2 H-bridge motor controller (with BTS 7960 or BTN 7971 half bridges).
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IBT2.cpp
00001 /* mbed IBT-2 H-bridge motor controller 00002 * Copyright (c) 2015, rwunderl, http://mbed.org 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy 00005 * of this software and associated documentation files (the "Software"), to deal 00006 * in the Software without restriction, including without limitation the rights 00007 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00008 * copies of the Software, and to permit persons to whom the Software is 00009 * furnished to do so, subject to the following conditions: 00010 * 00011 * The above copyright notice and this permission notice shall be included in 00012 * all copies or substantial portions of the Software. 00013 * 00014 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00015 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00016 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00017 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00018 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00019 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00020 * THE SOFTWARE. 00021 */ 00022 00023 #include "IBT2.h" 00024 00025 IBT2::IBT2(PinName L_pwm, PinName R_pwm, PinName en, float freq): 00026 _L_pwm(L_pwm), _R_pwm(R_pwm), _en(en) { 00027 // Set initial conditions 00028 _period = 1.0f / freq; // in seconds 00029 _L_pwm.period(_period); // same period used for all PwmOuts 00030 _L_pwm = 0.0; 00031 //_R_pwm.period(_period); 00032 _R_pwm = 0.0; 00033 _en = 0; 00034 _speed = 0.0; 00035 } 00036 00037 void IBT2::setSpeed(float speed) { 00038 _speed = speed; 00039 if (_speed > 0.0f) { 00040 _en = 1; 00041 // forward 00042 _L_pwm = _speed; 00043 _R_pwm = 0.0; 00044 } else if (_speed < 0.0f) { 00045 _en = 1; 00046 // reverse 00047 _L_pwm = 0.0; 00048 _R_pwm = -_speed; 00049 } else /* _speed == 0.0 */ { 00050 _en = 0; 00051 _L_pwm = 0.0; 00052 _R_pwm = 0.0; 00053 } 00054 } 00055 00056 float IBT2::getSpeed(void) { 00057 return _speed; 00058 }
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