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 }