Library for driving the IBT-2 H-bridge motor controller (with BTS 7960 or BTN 7971 half bridges).
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IBT2.h
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 #ifndef MBED_IBT2_H 00024 #define MBED_IBT2_H 00025 00026 #include "mbed.h" 00027 00028 /** Interface to the IBT-2 H-bridge motor controller 00029 * 00030 * Control a DC motor connected to the IBT-2 H-bridge using one of two modes: 00031 * 00032 * Mode 1: 00033 * 2 PwmOuts and 1 DigitalOut 00034 * - L_PWM controlled with a PwmOut 00035 * - R_PWM controlled with a PwmOut 00036 * - L_EN, R_EN connected to a DigitalOut (High is Enabled) 00037 * 00038 * Mode 2: 00039 * 1 PwmOut and 2 DigitalOuts 00040 * - L_PWM connected to a DigitalOut (High is Forward; keep R_PWM Low) 00041 * - R_PWM connected to a DigitalOut (High is Reverse; keep L_PWM Low) 00042 * - L_EN, R_EN controlled with a PwmOut 00043 * 00044 * For now, only Mode 1 is used. 00045 */ 00046 class IBT2 { 00047 public: 00048 /** Create an IBT-2 control interface 00049 * 00050 * @param L_pwm A PwmOut pin, driving the L_PWM H-bridge line to control the forward speed. 00051 * @param R_pwm A PwmOut pin, driving the R_PWM H-bridge line to control the reverse speed. 00052 * @param en A DigitalOut pin, driving the L_EN and R_EN H-bridge enable lines. 00053 * @param freq The frequency of the H-bridge PWM lines in Hz. 00054 */ 00055 IBT2(PinName L_pwm, PinName R_pwm, PinName en, float freq); 00056 00057 /** Set the speed and direction of the motor 00058 * 00059 * @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. 00060 */ 00061 void setSpeed(float speed); 00062 00063 /** Get the speed and direction of the motor 00064 * 00065 * @returns 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. 00066 */ 00067 float getSpeed(void); 00068 00069 protected: 00070 PwmOut _L_pwm; 00071 PwmOut _R_pwm; 00072 DigitalOut _en; 00073 float _period; 00074 float _speed; 00075 }; 00076 00077 #endif /* MBED_IBT2_H */
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