Vlad Cazan
Motor.cpp@0:552b174f8c2f, 2010-01-17 (annotated)
- Committer:
- vcazan
- Date:
- Sun Jan 17 17:17:06 2010 +0000
- Revision:
- 0:552b174f8c2f
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| vcazan | 0:552b174f8c2f | 1 | #include "Motor.h" |
| vcazan | 0:552b174f8c2f | 2 | #include "mbed.h" |
| vcazan | 0:552b174f8c2f | 3 | |
| vcazan | 0:552b174f8c2f | 4 | |
| vcazan | 0:552b174f8c2f | 5 | /* |
| vcazan | 0:552b174f8c2f | 6 | * Constructor |
| vcazan | 0:552b174f8c2f | 7 | */ |
| vcazan | 0:552b174f8c2f | 8 | Motor::Motor(PinName pwm, PinName fwd, PinName rev): |
| vcazan | 0:552b174f8c2f | 9 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
| vcazan | 0:552b174f8c2f | 10 | |
| vcazan | 0:552b174f8c2f | 11 | // Set initial condition of PWM |
| vcazan | 0:552b174f8c2f | 12 | _pwm.period(0.001); |
| vcazan | 0:552b174f8c2f | 13 | _pwm = 0; |
| vcazan | 0:552b174f8c2f | 14 | |
| vcazan | 0:552b174f8c2f | 15 | // Initial condition of output enables |
| vcazan | 0:552b174f8c2f | 16 | _fwd = 0; |
| vcazan | 0:552b174f8c2f | 17 | _rev = 0; |
| vcazan | 0:552b174f8c2f | 18 | |
| vcazan | 0:552b174f8c2f | 19 | } |
| vcazan | 0:552b174f8c2f | 20 | |
| vcazan | 0:552b174f8c2f | 21 | |
| vcazan | 0:552b174f8c2f | 22 | /* |
| vcazan | 0:552b174f8c2f | 23 | * Set the speed |
| vcazan | 0:552b174f8c2f | 24 | */ |
| vcazan | 0:552b174f8c2f | 25 | void Motor::speed(float speed) { |
| vcazan | 0:552b174f8c2f | 26 | _fwd = (speed > 0.0); |
| vcazan | 0:552b174f8c2f | 27 | _rev = (speed < 0.0); |
| vcazan | 0:552b174f8c2f | 28 | _pwm = abs(speed); |
| vcazan | 0:552b174f8c2f | 29 | } |
| vcazan | 0:552b174f8c2f | 30 | |
| vcazan | 0:552b174f8c2f | 31 | |
| vcazan | 0:552b174f8c2f | 32 |