Christopher Hasler / Motordriver Featured

motor drive libary to use speed control, coasting and dynamic braking. NOTE, dynamic braking my result in large currents. this may or may not set the motor driver on fire/break it/other undesired effects. so read the data sheet folks.

Dependents:   motordrivertestprogram Initialmbedrobotprogram mbedrobot ipod ... more

Diff: motordriver.cpp

Revision:
4:5fb1296c0d60
Parent:
3:8822f4955035
Child:
5:3110b9209d3c
--- a/motordriver.cpp	Fri Nov 19 12:33:38 2010 +0000
+++ b/motordriver.cpp	Thu Nov 25 13:31:22 2010 +0000
@@ -59,7 +59,7 @@
             _rev = (speed < 0.0);
             _pwm = 0;
             temp = 0;
-        } else {
+       } else {
             _fwd = (speed > 0.0);
             _rev = (speed < 0.0);
             temp = abs(speed);
@@ -106,6 +106,19 @@
         return -1;
 }
 
+float Motor::state(void) {
+    if ((_fwd == _rev) && (_pwm > 0)) {
+        return -2;//braking
+    } else if (_pwm == 0) {
+        return 2;//coasting
+    } else if ((_fwd == 0) && (_rev == 1)) {
+        return -(_pwm);//reversing
+    }  else if ((_fwd == 1) && (_rev == 0)) {
+        return _pwm;//fowards
+    } else
+        return -3;//error
+}
+
 /*
  test code, this demonstrates working motor drivers.