Diff: motorlib.cpp

Revision:

0:155daae8a9fa

Child:

2:c1f9f9d74f35

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motorlib.cpp	Tue Jan 15 13:27:35 2013 +0000
@@ -0,0 +1,83 @@
+/* mbed motorlib Library for H-Bridge Motor Driver Using Bipolar Transistors
+ * Copyright (c) 2007-2012,  Prabhu Desai http://mbed.org
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "motorlib.h"
+#include "mbed.h"
+
+Motor::Motor(PinName r1, PinName r2, PinName r3, PinName r4):
+    _r1(r1), _r2(r2), _r3(r3), _r4(r4) {
+
+// Set initial condition for port outputs
+  _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
+
+}
+void Motor::coast(void)
+{
+   _r1=0 ; _r2=1  ;_r3=0;_r4=1;
+   
+ 
+}
+void Motor::forward(void)
+{
+   _r1=0 ; _r2=0  ;_r3=1  ;_r4=1;
+ 
+}
+//  (additions)
+void Motor::backward(void)
+{
+   _r1=1 ; _r2=1  ;_r3=0  ;_r4=0;
+}
+
+void Motor::stop(void)
+{
+  _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
+}
+ 
+/*
+//Test code for driving h-Bridge
+// Assume there are two motors connected to a chasis 
+// a right and a left motor.
+
+
+Motor  left_motor(LED1,LED2,LED3,LED4);
+Motor  right_motor(LED1,LED2,LED3,LED4);
+
+void main(){
+  //To drive the robot forward  
+  left_motor.forward();
+  right_motor.backward();
+  
+  // To drive the robot backward  
+  left_motor.backward();
+  right_motor.forward();  
+  
+  // To turn the robot LEFT 
+  left_motor.stop();
+  right_motor.forward();    
+
+  // To turn the robot RIGHT  
+  left_motor.forward();
+  right_motor.stop();    
+
+}
+
+*/
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