Diff: motor_lockedantiphase.h

Revision:

0:62943ca4f7a0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_lockedantiphase.h	Wed Apr 23 16:32:53 2014 +0000
@@ -0,0 +1,60 @@
+/*
+ * motor_lockedantiphase.h
+ *
+ *  Created on: 2014/04/23
+ *      Author: spiralray
+ */
+
+#ifndef MOTOR_LOCKEDANTIPHASE_H_
+#define MOTOR_LOCKEDANTIPHASE_H_
+
+#include "mbed.h"
+
+class Motor_LockedAntiphase
+{
+public:
+
+  Motor_LockedAntiphase(PwmOut ma, PwmOut mb);
+  ~Motor_LockedAntiphase();
+
+  /** Set the PWM period, specified in seconds (float), keeping the duty cycle the same.
+   *
+   *  @note
+   *   The resolution is currently in microseconds; periods smaller than this
+   *   will be set to zero.
+   */
+  void period(float seconds) {
+    motora.period(seconds);
+    motorb.period(seconds);
+  }
+
+  /** Set the PWM period, specified in milli-seconds (int), keeping the duty cycle the same.
+   */
+  void period_ms(int ms) {
+    motora.period_ms(ms);
+    motorb.period_ms(ms);
+  }
+
+  /** Set the PWM period, specified in micro-seconds (int), keeping the duty cycle the same.
+   */
+  void period_us(int us) {
+    motora.period_us(us);
+    motorb.period_us(us);
+  }
+
+#ifdef MBED_OPERATORS
+  /** A operator shorthand for write()
+   */
+  Motor_LockedAntiphase& operator= (float value) {
+    motora.write(0.5f+value/2);
+    motorb.write(0.5f-value/2);
+    return *this;
+  }
+#endif
+
+private:
+  PwmOut motora,motorb;
+
+};
+
+#endif /* MOTOR_LOCKEDANTIPHASE_H_ */