Example of Program for the MonsterMoto Shield on the ST Nucleo L152RE
Fork of NucleoF401_MonsterMotoShield by
Diff: main.cpp
- Revision:
- 1:ec9cd1ae6f86
- Parent:
- 0:50670948e4d6
- Child:
- 2:7f9d0d59c7f5
diff -r 50670948e4d6 -r ec9cd1ae6f86 main.cpp --- a/main.cpp Fri Aug 01 21:44:44 2014 +0000 +++ b/main.cpp Thu Feb 05 16:57:02 2015 +0000 @@ -28,12 +28,10 @@ /* VNH2SP30 pin definitions */ -DigitalOut inLeftApin(D7, LOW); // INA: Clockwise input -DigitalOut inRightApin(D4, LOW); // INA: Clockwise input -DigitalOut inLeftBpin(D8, LOW); // INB: Counter-clockwise input -DigitalOut inRightBpin(D9, LOW); // INB: Counter-clockwise input -PwmOut pwmLeftpin(PB_4); // PWM input -PwmOut pwmRightpin(PB_10); // PWM input +DigitalOut dirA(D12, LOW); // INA: Clockwise input +DigitalOut dirB(D13, LOW); // INB: Counter-clockwise input +PwmOut pwmLeftpin(PA_7); // PWM input +PwmOut pwmRightpin(PB_3); // PWM input AnalogIn csLeftpin(A2); // CS: Current sense ANALOG input AnalogIn csRightpin(A3); // CS: Current sense ANALOG input AnalogIn enLeftpin(A0); // EN: Status of switches output (Analog pin) @@ -62,15 +60,11 @@ void stopLeftMotor() { - inLeftApin.write(LOW); - inLeftBpin.write(LOW); pwmLeftpin.write(0.0f); } void stopRightMotor() { - inRightApin.write(LOW); - inRightBpin.write(LOW); pwmRightpin.write(0.0f); } @@ -98,14 +92,14 @@ if (direct <=4) { if (direct <=1) - inLeftApin.write(HIGH); + dirA.write(HIGH); else - inLeftApin.write(LOW); + dirA.write(LOW); if ((direct==0)||(direct==2)) - inLeftBpin.write(HIGH); + dirB.write(HIGH); else - inLeftBpin.write(LOW); + dirB.write(LOW); pwmLeftpin.write(percent); } @@ -116,14 +110,14 @@ if (direct <=4) { if (direct <=1) - inRightApin.write(HIGH); + dirA.write(HIGH); else - inRightApin.write(LOW); + dirA.write(LOW); if ((direct==0)||(direct==2)) - inRightBpin.write(HIGH); + dirB.write(HIGH); else - inRightBpin.write(LOW); + dirB.write(LOW); pwmRightpin.write(percent); }