Weimen Li / Mbed 2 deprecated MAE433_Library

Drivers for the mini robot designed for Princeton's MAE 433 course.

Dependencies:   mbed-dsp mbed-rtos mbed

Dependents:   MAE433_Library_Tester RobotBalancerv2

HBridge.hpp@8:da95e4ccbe4c, 2016-06-30 (annotated)

Committer:
Electrotiger
Date:
Thu Jun 30 23:52:51 2016 +0000
Revision:
8:da95e4ccbe4c
Parent:
0:9afc272fa65f 
Decreased H-Bridge Period to Provide for Even Finer Control.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Electrotiger 0:9afc272fa65f 1 /**
Electrotiger 0:9afc272fa65f 2 * @file HBridge.hpp
Electrotiger 0:9afc272fa65f 3 * @author Weimen Li
Electrotiger 0:9afc272fa65f 4 * @date June 4th, 2016
Electrotiger 0:9afc272fa65f 5 * @brief HBridge Class Header
Electrotiger 0:9afc272fa65f 6 * @class HBridge
Electrotiger 0:9afc272fa65f 7 * @brief The HBridge class encapsulates a physical H-Bridge from which the direction
Electrotiger 0:9afc272fa65f 8 * and PWM output can be controlled with separate pins.
Electrotiger 0:9afc272fa65f 9 * Example Usage:
Electrotiger 0:9afc272fa65f 10 * @code
Electrotiger 0:9afc272fa65f 11 // First, you must ensure that HBridge is included.
Electrotiger 0:9afc272fa65f 12 #include "HBridge.hpp"
Electrotiger 0:9afc272fa65f 13
Electrotiger 0:9afc272fa65f 14 // Create a new H-Bridge object -
Electrotiger 0:9afc272fa65f 15 // If many functions need access to it, do it out here, in a global scope.
Electrotiger 0:9afc272fa65f 16 // Otherwise, only create it in the function that you need it in.
Electrotiger 0:9afc272fa65f 17
Electrotiger 0:9afc272fa65f 18 // With a global scope:
Electrotiger 0:9afc272fa65f 19 HBridge HBridgeGlobal(PTA12, PTA13);
Electrotiger 0:9afc272fa65f 20
Electrotiger 0:9afc272fa65f 21 void someFunction() {
Electrotiger 0:9afc272fa65f 22 // With a local scope: (May need to be static to persist across calls to the function.)
Electrotiger 0:9afc272fa65f 23 static HBridge HBridgeLocal(PTA14, PTA15);
Electrotiger 0:9afc272fa65f 24 HBridgeLocal.write(0.75);
Electrotiger 0:9afc272fa65f 25 }
Electrotiger 0:9afc272fa65f 26
Electrotiger 0:9afc272fa65f 27 int main() {
Electrotiger 0:9afc272fa65f 28
Electrotiger 0:9afc272fa65f 29 for(;;) {
Electrotiger 0:9afc272fa65f 30 // Write to an HBridge by calling its write method:
Electrotiger 0:9afc272fa65f 31 HBridgeGlobal.write(0.50);
Electrotiger 0:9afc272fa65f 32 someFunction();
Electrotiger 0:9afc272fa65f 33 }
Electrotiger 0:9afc272fa65f 34 }
Electrotiger 0:9afc272fa65f 35 * @endcode
Electrotiger 0:9afc272fa65f 36 *
Electrotiger 0:9afc272fa65f 37 */
Electrotiger 0:9afc272fa65f 38
Electrotiger 0:9afc272fa65f 39 #ifndef HBRIDGE_H_
Electrotiger 0:9afc272fa65f 40 #define HBRIDGE_H_
Electrotiger 0:9afc272fa65f 41 #include "mbed.h"
Electrotiger 0:9afc272fa65f 42
Electrotiger 0:9afc272fa65f 43 class HBridge {
Electrotiger 0:9afc272fa65f 44 public:
Electrotiger 0:9afc272fa65f 45 /**
Electrotiger 0:9afc272fa65f 46 * @brief Constructor for the H-bridge.
Electrotiger 0:9afc272fa65f 47 * @param PWMPin The Pin that the motor PWM is attached to.
Electrotiger 0:9afc272fa65f 48 * @param DirectionPin The Pin that the direction control is attached to.
Electrotiger 0:9afc272fa65f 49 */
Electrotiger 0:9afc272fa65f 50 HBridge(PinName PWMPin, PinName DirectionPin);
Electrotiger 0:9afc272fa65f 51 virtual ~HBridge();
Electrotiger 0:9afc272fa65f 52 /**
Electrotiger 0:9afc272fa65f 53 * @brief Write an output to the H bridge.
Electrotiger 0:9afc272fa65f 54 * @param percent a float between -1 and 1, where the magnitude indicates the
Electrotiger 0:9afc272fa65f 55 * duty cycle, and the sign indicates the direction. Values exceeding the range are automatically
Electrotiger 0:9afc272fa65f 56 * set to 1.
Electrotiger 0:9afc272fa65f 57 */
Electrotiger 0:9afc272fa65f 58 void write(float percent);
Electrotiger 0:9afc272fa65f 59 /**
Electrotiger 0:9afc272fa65f 60 * @brief Read the current output from the H-bridge.
Electrotiger 0:9afc272fa65f 61 * @returns A float between -1 and 1, where the magnitude
Electrotiger 0:9afc272fa65f 62 * indicates the duty cycle, and the sign indicates the direction.
Electrotiger 0:9afc272fa65f 63 */
Electrotiger 0:9afc272fa65f 64 float read();
Electrotiger 0:9afc272fa65f 65 private:
Electrotiger 0:9afc272fa65f 66 PwmOut PWMOut;
Electrotiger 0:9afc272fa65f 67 DigitalOut DirectionOut;
Electrotiger 0:9afc272fa65f 68 bool outputHasChanged;
Electrotiger 0:9afc272fa65f 69 };
Electrotiger 0:9afc272fa65f 70
Electrotiger 0:9afc272fa65f 71 #endif /* HBRIDGE_H_ */