frscl / Motor

Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select)

Fork of Motor by Simon Ford

Files at this revision

API Documentation at this revision

Revision 6:a321d28cce9a, committed 2015-05-09

Comitter:
michal0074
Date:
Sat May 09 11:04:49 2015 +0000
Parent:
5:71d7e9c17980
Child:
7:d25073d59616
Commit message:
2165;

Changed in this revision

Motor.cpp Show annotated file Show diff for this revision Revisions of this file
Motor.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Motor.cpp	Thu May 07 11:05:06 2015 +0000
+++ b/Motor.cpp	Sat May 09 11:04:49 2015 +0000
@@ -24,7 +24,7 @@
 #include "mbed.h"
 
 Motor::Motor(PinName pwm, PinName fwd, PinName rev) :
-_pwm(pwm), _fwd(fwd), _rev(rev), speedControl(K, Ti, Td, itv), encoder(CH_A, CH_B, NC, pPerRev)
+_pwm(pwm), _fwd(fwd), _rev(rev), speedControl(K, Ti, Td, itv)//, encoder(CH_A, CH_B, NC, pPerRev)
 {
 
     // Set initial condition of PWM
@@ -43,7 +43,7 @@
 }
 
 void Motor::speed(float speed) {
-
+/*
     if (speed != set_speed){
         speedControl.setSetPoint(speed);
         set_speed = speed;
@@ -55,7 +55,7 @@
 
     speedControl.setProcessValue(curr_speed);
     speed = speedControl.compute();
-
+*/
 
     _fwd = (speed > 0.0);
     _rev = (speed < 0.0);

--- a/Motor.h	Thu May 07 11:05:06 2015 +0000
+++ b/Motor.h	Sat May 09 11:04:49 2015 +0000
@@ -35,11 +35,12 @@
 #define AUTO 1
 
 /*QEI pins*/
+/*
 #define CH_A PTA2
 #define CH_B PTA3
 const int pPerRev = 10;
 const int max_pulse_rate = 300; //do policzenia!!!!!!!!!!!!!!!!!!!
-
+*/
 /** Interface to control a standard DC motor
 *
 * with an H-bridge using a PwmOut and 2 DigitalOuts
@@ -67,12 +68,13 @@
     DigitalOut _rev;
 private:
     PID speedControl;
-    QEI encoder;
+    //QEI encoder;
 
     float set_speed;
     int pulses;
     float curr_speed;
     float prev_pulses;
+    
 };
 
 #endif