From 24f107617c8e8ae89df813f848b300407bdea413 Mon Sep 17 00:00:00 2001 From: Devin Date: Mon, 21 Dec 2020 11:08:56 -0700 Subject: [PATCH] updated code formatting --- tb6612.cpp | 108 ++++++++++++++++++++++++++++++++--------------------- tb6612.h | 51 +++++++++++++------------ 2 files changed, 93 insertions(+), 66 deletions(-) diff --git a/tb6612.cpp b/tb6612.cpp index ec3c8ad..2cee109 100644 --- a/tb6612.cpp +++ b/tb6612.cpp @@ -1,52 +1,68 @@ #include "tb6612.h" -namespace tb6612 { - -TB6612::TB6612(PinName pwm_a, PinName pwm_b, PinName a_in1, \ - PinName a_in2, PinName b_in1, PinName b_in2, - Motor_Polarity_T a_polarity, Motor_Polarity_T b_polarity): - pwm_a_(pwm_a), pwm_b_(pwm_b), a_in1_(a_in1), - a_in2_(a_in2), b_in1_(b_in1), b_in2_(b_in2) { +namespace tb6612 +{ +TB6612::TB6612(PinName pwm_a, PinName pwm_b, PinName a_in1, PinName a_in2, PinName b_in1, PinName b_in2, + MotorPolarity a_polarity, MotorPolarity b_polarity) + : pwm_a_(pwm_a), pwm_b_(pwm_b), a_in1_(a_in1), a_in2_(a_in2), b_in1_(b_in1), b_in2_(b_in2) +{ a_polarity_ = a_polarity; b_polarity_ = b_polarity; } -void TB6612::SetPWMPeriod(float period_s) { - pwm_a_.period(period_s); - pwm_b_.period(period_s); +void TB6612::setPWMPeriod(float period_s) +{ + pwm_a_.period(period_s); + pwm_b_.period(period_s); } -Direction_T TB6612:: HandlePolarity(Motor_Polarity_T polarity, Direction_T new_dir) { - Direction_T ret_val; +Direction TB6612::handlePolarity(MotorPolarity polarity, Direction new_dir) +{ + Direction ret_val; - if (STANDARD == polarity) { + if (STANDARD == polarity) + { ret_val = new_dir; - } else if (FORWARD == new_dir) { + } + else if (FORWARD == new_dir) + { ret_val = REVERSE; - } else if (REVERSE == new_dir) { + } + else if (REVERSE == new_dir) + { ret_val = FORWARD; - } else { + } + else + { MBED_ASSERT(false); } return ret_val; } -void TB6612::SetDirection(Motor_Id_T motor, Direction_T new_dir) { - Direction_T dir; +void TB6612::setDirection(MotorId motor, Direction new_dir) +{ + Direction dir; - if (MOTOR_A == motor) { - dir = HandlePolarity(a_polarity_, new_dir); + if (MOTOR_A == motor) + { + dir = handlePolarity(a_polarity_, new_dir); motor_a_dir_ = new_dir; - } else if (MOTOR_B == motor) { - dir = HandlePolarity(b_polarity_, new_dir); + } + else if (MOTOR_B == motor) + { + dir = handlePolarity(b_polarity_, new_dir); motor_b_dir_ = new_dir; - } else { + } + else + { MBED_ASSERT(false); } - switch (dir) { + switch (dir) + { case FORWARD: - switch (motor) { + switch (motor) + { case MOTOR_A: a_in1_ = 1; a_in2_ = 0; @@ -60,7 +76,8 @@ void TB6612::SetDirection(Motor_Id_T motor, Direction_T new_dir) { } break; case REVERSE: - switch (motor) { + switch (motor) + { case MOTOR_A: a_in1_ = 0; a_in2_ = 1; @@ -73,15 +90,17 @@ void TB6612::SetDirection(Motor_Id_T motor, Direction_T new_dir) { MBED_ASSERT(false); } break; - default: - MBED_ASSERT(false); + default: + MBED_ASSERT(false); } } -Direction_T TB6612::GetDirection(Motor_Id_T motor) { - Direction_T dir; +Direction TB6612::getDirection(MotorId motor) +{ + Direction dir; - switch (motor) { + switch (motor) + { case MOTOR_A: dir = motor_a_dir_; break; @@ -95,21 +114,25 @@ Direction_T TB6612::GetDirection(Motor_Id_T motor) { return (dir); } -void TB6612::SetDC(Motor_Id_T motor, uint8_t percent) { - switch (motor) { +void TB6612::setDutyCycle(MotorId motor, uint8_t percent) +{ + switch (motor) + { case MOTOR_A: - pwm_a_ = percent/100.0f; + pwm_a_ = percent / 100.0f; break; case MOTOR_B: - pwm_b_ = percent/100.0f; + pwm_b_ = percent / 100.0f; break; default: MBED_ASSERT(false); } } -void TB6612::Stop(Motor_Id_T motor) { - switch (motor) { +void TB6612::stop(MotorId motor) +{ + switch (motor) + { case MOTOR_A: a_in1_ = 0; a_in2_ = 0; @@ -123,11 +146,12 @@ void TB6612::Stop(Motor_Id_T motor) { } } -void TB6612::Freewheel(void) { - Stop(MOTOR_A); - Stop(MOTOR_B); - SetDC(MOTOR_A, 100); - SetDC(MOTOR_B, 100); +void TB6612::freewheel(void) +{ + stop(MOTOR_A); + stop(MOTOR_B); + setDutyCycle(MOTOR_A, 100); + setDutyCycle(MOTOR_B, 100); } } // namespace tb6612 diff --git a/tb6612.h b/tb6612.h index f1940b7..ff3b855 100644 --- a/tb6612.h +++ b/tb6612.h @@ -3,40 +3,43 @@ #include "mbed.h" -namespace tb6612 { - +namespace tb6612 +{ static const float vdrop = 0.1; -typedef enum { +typedef enum +{ REVERSE = -1, UNKNOWN_DIR = 0, FORWARD = 1 -} Direction_T; +} Direction; -typedef enum { +typedef enum +{ MOTOR_A = 0, MOTOR_B -} Motor_Id_T; +} MotorId; -typedef enum { +typedef enum +{ REVERSED = -1, STANDARD = 1 -} Motor_Polarity_T; +} MotorPolarity; -class TB6612 { +class TB6612 +{ public: - TB6612(PinName pwm_a, PinName pwm_b, PinName a_in1, \ - PinName a_in2, PinName b_in1, PinName b_in2, - Motor_Polarity_T a_polarity, Motor_Polarity_T b_polarity); - void SetPWMPeriod(float period_s); - void SetDirection(Motor_Id_T motor, Direction_T new_dir); - Direction_T GetDirection(Motor_Id_T motor); - void SetDC(Motor_Id_T motor, uint8_t percent); - void Stop(Motor_Id_T motor); - void Freewheel(void); - + TB6612(PinName pwm_a, PinName pwm_b, PinName a_in1, PinName a_in2, PinName b_in1, PinName b_in2, + MotorPolarity a_polarity, MotorPolarity b_polarity); + void setPWMPeriod(float period_s); + void setDirection(MotorId motor, Direction new_dir); + Direction getDirection(MotorId motor); + void setDutyCycle(MotorId motor, uint8_t percent); + void stop(MotorId motor); + void freewheel(void); + private: - Direction_T HandlePolarity(Motor_Polarity_T polarity, Direction_T new_dir); + Direction handlePolarity(MotorPolarity polarity, Direction new_dir); DigitalOut a_in1_; DigitalOut a_in2_; @@ -44,10 +47,10 @@ class TB6612 { DigitalOut b_in2_; PwmOut pwm_a_; PwmOut pwm_b_; - Motor_Polarity_T a_polarity_; - Motor_Polarity_T b_polarity_; - Direction_T motor_a_dir_; - Direction_T motor_b_dir_; + MotorPolarity a_polarity_; + MotorPolarity b_polarity_; + Direction motor_a_dir_; + Direction motor_b_dir_; }; } // namespace tb6612