File content as of revision 1:048f85990e31:

/* 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:

    /** Creates a DRV8833(H-bridge motor controller) control interface    
     *
     * @param pwm1 A PwmOut pin, tied to the AIN1 Logic input, controls state of AOUT1 
     * @param pwm2 A PwmOut pin, tied to the AIN2 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