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DCDriver1PWM2Dir.cpp
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DCDriver1PWM2Dir.cpp
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#include "./DCDriver1PWM2Dir.h"
DCDriver1PWM2Dir::DCDriver1PWM2Dir(int pinPWM, int pinDIR1, int pinDIR2, int pinEN) {
this->pinPWM = pinPWM;
this->pinDIR1 = pinDIR1;
this->pinDIR2 = pinDIR2;
this->pinEN = pinEN;
this->pwm_frequency = NOT_SET;
};
int DCDriver1PWM2Dir::init() {
if (pinEN!=NOT_SET) {
pinMode(pinEN, OUTPUT);
digitalWrite(pinEN, enable_active_high ? LOW : HIGH);
}
pinMode(pinDIR1, OUTPUT);
digitalWrite(pinDIR1, HIGH);
pinMode(pinDIR2, OUTPUT);
digitalWrite(pinDIR2, LOW);
pinMode(pinPWM, OUTPUT);
params = _configure1PWM(pwm_frequency, pinPWM);
initialized = (params!=SIMPLEFOC_DRIVER_INIT_FAILED);
return params!=SIMPLEFOC_DRIVER_INIT_FAILED;
};
void DCDriver1PWM2Dir::setPwm(float U){
if (U>0.0f) {
U = _constrain(U, 0.0f, voltage_limit);
U = _constrain(U/voltage_power_supply,0.0f,1.0f);
_writeDutyCycle1PWM(U, params);
digitalWrite(pinDIR2, LOW);
digitalWrite(pinDIR1, HIGH);
} else if (U<0.0f) {
U = _constrain(-U, 0.0f, voltage_limit);
U = _constrain(U/voltage_power_supply,0.0f,1.0f);
_writeDutyCycle1PWM(U, params);
digitalWrite(pinDIR1, LOW);
digitalWrite(pinDIR2, HIGH);
} else {
_writeDutyCycle1PWM(0, params);
}
};