-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathIBT2.h
62 lines (52 loc) · 1.92 KB
/
IBT2.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
// NAME: IBT2.h
//
// DESC: Library for IBT_2 modules with high current BTS7960 half bridge motor drivers.
// The library uses PWM and supports current sensing.
//
// This file is part of the IBT2-Library for the Arduino environment.
//
// MIT License
//
// Copyright (c) 2019 Andreas Trappmann
//
// 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.
//
#ifndef IBT2_H
#define IBT2_H
#include <Arduino.h>
class IBT2 {
public:
uint8_t RPWM_PIN, LPWM_PIN;
uint8_t EN_PIN;
uint16_t Rintern;
uint16_t Rextern;
uint16_t absMaxAnalogSenseValue;
int speed;
uint8_t pwmFreq;
public:
IBT2(const uint8_t RPWM_pin, const uint8_t LPWM_pin, const uint8_t EN_pin,
const uint16_t Rexternal, const uint16_t Rinternal = 10000);
void enable() const;
void disable() const;
bool setSpeed(const int16_t speed); // -255 to +255
void stop();
void initCurrentSensing();
double readCurrent() const;
};
#endif /* IBT2_H */