Diff: DRV8833.cpp

Revision:

0:80e26be59f41

Child:

2:ccc9acaebd38

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV8833.cpp	Tue Oct 15 12:25:34 2013 +0000
@@ -0,0 +1,61 @@
+/* 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
+ *15/10/2013
+**/
+
+
+#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;
+     
+}
+
+void DRV8833::speed(float speed) 
+{
+    if (speed > 0.0)
+    {
+        _pwm1 = abs(speed);
+        _pwm2 = 0;
+    }
+    else
+    {
+      _pwm1 = 0;
+      _pwm2 = abs(speed);
+    }
+}
+void DRV8833::period(float period){
+
+    _pwm1.period(period);
+    _pwm2.period(period);
+}
+
+void DRV8833::brake(int highLow){
+
+    if(highLow == BRAKE_FAST)
+    {
+        _pwm1 = 0;
+        _pwm2 = 0;     
+    }
+    else if(highLow == BRAKE_SLOW){
+        _pwm1 = 1;
+        _pwm2 = 1; 
+    }
+
+}