Diff: Actuator/Motor.cpp

Revision:

0:a35213e1e14e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuator/Motor.cpp	Mon May 03 07:22:52 2021 +0000
@@ -0,0 +1,41 @@
+#include "Motor.h"
+
+
+Motor::Motor(PinName IN1, PinName IN2, PinName INH1, PinName INH2)
+    : IN1_(IN1), IN2_(IN2), INH1_(INH1), INH2_(INH2)
+{
+    INH1_=1;
+    INH2_=1;
+    IN1_.period_us(50);
+    IN2_.period_us(50);
+}
+
+void Motor::setSpeed_percent(float percent, char direction)
+{
+    float duty = percent/100.0;
+    if(duty>1.0) {
+        duty=1.0;
+    } else if(duty<0.0) {
+        duty=0.0;
+    }
+    
+    if(direction==FORWARD) 
+    {
+        IN1_=duty;
+        IN2_=0;
+    } 
+    else if (direction == BACKWARD){
+        IN1_=0;
+        IN2_=duty;
+    }
+    else if (direction == BREAK)
+    {
+        IN1_=1;
+        IN2_=1;
+    }
+    else 
+    {
+        IN1_=0;
+        IN2_=0;
+    }   
+}
\ No newline at end of file