Tristan Vlogman / motorConfig

Sets motor currents based on input motorvalue

motorConfig.cpp@2:91ea2963629a, 2017-10-23 (annotated)

Committer:
tvlogman
Date:
Mon Oct 23 13:47:38 2017 +0000
Revision:
2:91ea2963629a
Parent:
1:84cb991c4d28 
Works now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tvlogman 0:131a76b8848a 1 #include "motorConfig.h"
tvlogman 0:131a76b8848a 2 #include "mbed.h"
tvlogman 0:131a76b8848a 3 #include "FastPWM.h"
tvlogman 0:131a76b8848a 4
tvlogman 2:91ea2963629a 5 // Constructor
tvlogman 2:91ea2963629a 6 motorConfig::motorConfig(PinName _directionPin, PinName _pwmPin):directionPin(_directionPin),pwmPin(_pwmPin){
tvlogman 0:131a76b8848a 7 pwmPin.period(1.0/5000.0);
tvlogman 0:131a76b8848a 8 directionPin = 0;
tvlogman 0:131a76b8848a 9 }
tvlogman 0:131a76b8848a 10
tvlogman 2:91ea2963629a 11 // Other member function definitions
tvlogman 0:131a76b8848a 12 void motorConfig::setMotor(float motorValue){
tvlogman 2:91ea2963629a 13 // Set motor direction
tvlogman 2:91ea2963629a 14 if (motorValue >=0){
tvlogman 2:91ea2963629a 15 // corresponds to CW rotation of motor axle
tvlogman 2:91ea2963629a 16 directionPin.write(0);
tvlogman 2:91ea2963629a 17 } else if(motorValue < 0){
tvlogman 2:91ea2963629a 18 // corresponds to CCW rotation of motor axle
tvlogman 2:91ea2963629a 19 directionPin.write(1);
tvlogman 2:91ea2963629a 20 }
tvlogman 0:131a76b8848a 21
tvlogman 2:91ea2963629a 22 // Set motor speed
tvlogman 2:91ea2963629a 23 if (fabs(motorValue)>1){
tvlogman 2:91ea2963629a 24 pwmPin = 1.0;
tvlogman 2:91ea2963629a 25 }
tvlogman 2:91ea2963629a 26 else {
tvlogman 2:91ea2963629a 27 pwmPin.write(fabs(motorValue) + 0.4);
tvlogman 2:91ea2963629a 28 }
tvlogman 2:91ea2963629a 29
tvlogman 0:131a76b8848a 30 }
tvlogman 0:131a76b8848a 31
tvlogman 2:91ea2963629a 32 void motorConfig::kill(){
tvlogman 2:91ea2963629a 33 // currentState = KILLED;
tvlogman 2:91ea2963629a 34 pwmPin.write(0.0);
tvlogman 2:91ea2963629a 35
tvlogman 0:131a76b8848a 36 }