Oskar Lopez de Gamboa / DRV8833

Mbed library to control a motor via DRV8833 H-bridge motor controller. Uses two Pwmouts.

Dependents:   GGHandController

DRV8833.cpp

Committer:
xeta05
Date:
2013-12-02
Revision:
2:ccc9acaebd38
Parent:
0:80e26be59f41
Child:
3:0aa2cdeb2e2b

File content as of revision 2:ccc9acaebd38:

/* 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 mode){

    if(mode == COAST)
    {
        _pwm1 = 0;
        _pwm2 = 0;     
    }
    else if(mode == BRAKE)
    {
        _pwm1 = 1;
        _pwm2 = 1; 
    }

}