DCmotor.cpp

00001 #include<DCmotor.hpp>
00002 
00003 DCmotor::DCmotor(Port motor, float max_pwm, float min_pwm, bool CW_flag):motor_(motor),max_pwm_(max_pwm),min_pwm_(min_pwm),CW_flag_(CW_flag){
00004 }
00005 
00006 DCmotor::DCmotor(PinName pin_a, PinName pin_b, float max_pwm, float min_pwm, bool CW_flag):max_pwm_(max_pwm),min_pwm_(min_pwm),CW_flag_(CW_flag){
00007     motor_.pin[0] = pin_a;
00008     motor_.pin[1] = pin_b;
00009 }
00010 
00011 void DCmotor::drive(float pwm){
00012     float output_pwm = (abs(pwm) < min_pwm_ ? min_pwm_ : abs(pwm) > max_pwm_ ? max_pwm_ : abs(pwm));
00013     pwm = (CW_flag_ == false ? -pwm : pwm);
00014     if(!pwm) {
00015         DigitalOut Moter1(motor_.pin[0],0);
00016         DigitalOut Moter2(motor_.pin[1],0);
00017     } else if(pwm < 0) {
00018         PwmOut Moter1(motor_.pin[0]);
00019         Moter1.period_us(256);
00020         Moter1.write(output_pwm);
00021         DigitalOut Moter2(motor_.pin[1],0);
00022     } else {
00023         DigitalOut Moter1(motor_.pin[0],0);
00024         PwmOut Moter2(motor_.pin[1]);
00025         Moter2.period_us(256);
00026         Moter2.write(output_pwm);
00027     }
00028 }