Mbed library to control a motor via DRV8833 H-bridge motor controller. Uses two Pwmouts.
Diff: DRV8833.h
- Revision:
- 0:80e26be59f41
- Child:
- 1:048f85990e31
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DRV8833.h Tue Oct 15 12:25:34 2013 +0000 @@ -0,0 +1,67 @@ +/* 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 +*/ + +#ifndef MBED_DRV8833 +#define MBED_DRV8833 + +#include "mbed.h" + +#define BRAKE_FAST 1 +#define BRAKE_SLOW 0 + +/** Interface to control a standard DC motor + * with an DRV8833 H-bridge motor controller + * using 2 PwmOuts + */ +class DRV8833 { +public: + + /** Create a DRV8833 control interface + * + * @param pwm1 A PwmOut pin, Logic input controls state of AOUT1 + * @param pwm2 A PwmOut pin, Logic input controls state of AOUT2 + * + */ + DRV8833(PinName pwm1, PinName pwm2); + + /** Set the speed of the motor + * + * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 + */ + void speed(float speed); + + /** Set the period of the pwm duty cycle. + * + * Wrapper for PwmOut::period() + * + * @param seconds - Pwm duty cycle in seconds. + */ + void period(float period); + + /** Brake the H-bridge to fast or slow. + * + * Defaults to breaking fast. + * + * Brake fast(coast) => pwm1 = pwm2 = 0 + * Brake slow => pwm1 = pwm2 = 1 + */ + void brake(int highLow = BRAKE_FAST); + +protected: + PwmOut _pwm1; + PwmOut _pwm2; + +}; + +#endif