Simon Ford / Mbed 2 deprecated LabVIEW_PID

Simple PID example for LabVIEW

Dependencies:   mbed

Motor.cpp@1:ddfe18427154, 2010-08-03 (annotated)

Committer:
simon
Date:
Tue Aug 03 15:32:30 2010 +0000
Revision:
1:ddfe18427154

        

        
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/* mbed simple H-bridge motor controller





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 * Copyright (c) 2007-2010, sford





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 *





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 * Permission is hereby granted, free of charge, to any person obtaining a copy





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 * of this software and associated documentation files (the "Software"), to deal





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 * in the Software without restriction, including without limitation the rights





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 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell





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 * copies of the Software, and to permit persons to whom the Software is





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 * furnished to do so, subject to the following conditions:





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 *





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 * The above copyright notice and this permission notice shall be included in





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 * all copies or substantial portions of the Software.





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 *





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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR





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 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,





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 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE





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 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER





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 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,





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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN





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 * THE SOFTWARE.





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 */





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#include "Motor.h"





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#include "mbed.h"





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Motor::Motor(PinName pwm, PinName fwd, PinName rev):





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        _pwm(pwm), _fwd(fwd), _rev(rev) {





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    // Set initial condition of PWM





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    _pwm.period(0.001);





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    _pwm = 0;





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    // Initial condition of output enables





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    _fwd = 0;





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    _rev = 0;





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}





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void Motor::speed(float speed) {





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    _fwd = (speed > 0.0);





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    _rev = (speed < 0.0);





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    _pwm = abs(speed);





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}





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