AP1017 library for the Rev.E hardware with expanded capabilities.
Fork of AP1017 by
Diff: AP1017.cpp
- Revision:
- 1:4d4c77589134
- Parent:
- 0:a0435a630c5d
- Child:
- 3:f8e70f639ed0
--- a/AP1017.cpp Fri Apr 14 19:35:08 2017 +0000 +++ b/AP1017.cpp Mon Apr 17 19:08:36 2017 +0000 @@ -3,21 +3,19 @@ /******************** Constructors & Destructors ****************************/ // Default constructor -AP1017::AP1017(void) : motorOn(false), dutyCycle(0.50), pwmPeriod_us(200), - motor(ENABLE_PIN), inA(INPUTA_PIN), inB(INPUTB_PIN) +AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0), freq_hz(0.0), + pulseWidth_us(0.0), pwmPeriod_us(0.0) { - freq_hz = 0.000001/pwmPeriod_us; // Derive frequency - pulseWidth_us = dutyCycle * pwmPeriod_us; // Derive pulse width - stopMotor(); // Keep motor off + motor = NULL; + inA = NULL; + inB = NULL; } // Default destructor AP1017::~AP1017(void) { stopMotor(); - - if(ap1017) - delete ap1017; + delete inA, inB, motor; } /*********************** Member Functions ***********************************/ @@ -29,25 +27,25 @@ case DIRECTION_CW: if(motorOn == true && dir == DIRECTION_CCW) return ERROR_MOTORON; - inA.write(1); - inB.write(0); + inA->write(1); + inB->write(0); motorOn = true; break; case DIRECTION_CCW: if(motorOn == true && dir == DIRECTION_CW) return ERROR_MOTORON; - inA.write(0); - inB.write(1); + inA->write(0); + inB->write(1); motorOn = true; break; case DIRECTION_BRAKE: - inA.write(1); - inB.write(1); + inA->write(1); + inB->write(1); motorOn = true; break; case DIRECTION_COAST: - inA.write(0); - inB.write(0); + inA->write(0); + inB->write(0); motorOn = false; break; default: @@ -65,7 +63,7 @@ pulseWidth_us = dutyCycle * pwmPeriod_us; // Override pulse width if(motorOn == true){ - motor.write(dutyCycle); // If motor is on, keep it on + motor->write(dutyCycle); // If motor is on, keep it on } } @@ -104,7 +102,7 @@ freq_hz = 1/(per * 0.000001); // Calculate the frequency if(motorOn == true){ // If motor on, keep it on - motor.period_us(pwmPeriod_us); + motor->period_us(pwmPeriod_us); } return SUCCESS; @@ -126,9 +124,9 @@ AP1017::Status AP1017::startMotor(void) { - motor.period_us(pwmPeriod_us); // Set the period - motor.pulsewidth_us(pulseWidth_us); // Set the pulse width - motor.write(dutyCycle); // Set duty cycle, start motor + motor->period_us(pwmPeriod_us); // Set the period + motor->pulsewidth_us(pulseWidth_us); // Set the pulse width + motor->write(dutyCycle); // Set duty cycle, start motor motorOn = true; // Set ON flag return SUCCESS; @@ -137,7 +135,7 @@ AP1017::Status AP1017::stopMotor(void) { - motor.write(0.0); // turn motor off (duty cycle saved) + motor->write(0.0); // turn motor off (duty cycle saved) motorOn = false; // Set OFF flag return SUCCESS;