Diff: DRV8833.cpp

Revision:

1:82463f25fd3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV8833.cpp	Thu Dec 12 17:30:49 2013 +0000
@@ -0,0 +1,101 @@
+/* 
+ * @file DRV8833.h
+ * @author Oskar Lopez de Gamboa
+ *
+ * @section LICENSE
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * mbed simple DRV8833 H-bridge motor controller
+ * 
+ *
+ * PWM a un puente en H(DRV8833) conectado a los motores.
+ * El comportamiento del driver es el siguiente:
+ *  
+ *          x_PWM1 x_PWM2    Mode
+ *            0      0       Coast/Fast decay
+ *            0      1       Reverse
+ *            1      0       Forward
+ *            1      1       Brake/slow decay
+ *10/12/2013
+*/
+
+
+#include "DRV8833.h"
+
+DRV8833::DRV8833(PinName pwm1, PinName pwm2):
+        _pwm1(pwm1), _pwm2(pwm2) 
+{
+    
+    // Set initial condition of PWM
+    _pwm1.period(0.001);
+    _pwm1 = 0;
+    _pwm2.period(0.001);
+    _pwm2 = 0;
+    _period = 0.001;
+    _speed = 0;
+     
+}
+
+void DRV8833::speed(float speed) 
+{
+    _speed = speed;
+    if (speed > 0.0)
+    {
+        _pwm1 = abs(speed);
+        _pwm2 = 0;
+    }
+    else
+    {
+      _pwm1 = 0;
+      _pwm2 = abs(speed);
+    }
+}
+void DRV8833::period(float period){
+
+    _period = period;
+    _pwm1.period(period);
+    _pwm2.period(period);
+}
+
+void DRV8833::brake(int mode){
+
+    if(mode == COAST)
+    {
+        _pwm1 = 0;
+        _pwm2 = 0;     
+    }
+    else if(mode == BRAKE)
+    {
+        _pwm1 = 1;
+        _pwm2 = 1; 
+    }
+
+}
+float DRV8833::getSpeed(void){
+    
+    return _speed;
+
+}
+
+float DRV8833::getPeriod(void){
+
+    return _period;
+
+}
+