103 lines
2.0 KiB
C++
103 lines
2.0 KiB
C++
/*
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* peripherals_motors.hpp
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*
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* Created on: Feb 24, 2021
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* Author: erki
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*/
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#ifndef SKULLC_PERIPHERALS_MOTORS_HPP_
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#define SKULLC_PERIPHERALS_MOTORS_HPP_
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namespace Peripherals
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{
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template<typename T>
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struct TwoChannelMotorData
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{
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using pwm_channel = T;
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pwm_channel forward;
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pwm_channel backward;
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};
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class IMotors
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{
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public:
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virtual void set(const std::int16_t left, const std::int16_t right) = 0;
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virtual void coast() = 0;
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virtual void setBreak() = 0;
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};
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template<typename T, typename I>
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class DualDrvMotors : public IMotors
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{
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public:
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using single_motor = TwoChannelMotorData<T>;
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using gpio = I;
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DualDrvMotors(const single_motor& left, const single_motor& right,
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const gpio& sleep_pin)
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: left_(left), right_(right), sleep_pin_(sleep_pin)
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{
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left_.forward.enable();
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left_.backward.enable();
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right_.forward.enable();
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right_.backward.enable();
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sleep_pin_.set(false);
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set(0, 0);
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}
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virtual void set(const std::int16_t left, const std::int16_t right) override
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{
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if (left > 0)
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{
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left_.forward.setCompare(left);
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left_.backward.setCompare(0);
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}
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else
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{
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left_.forward.setCompare(0);
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left_.backward.setCompare(-1 * left);
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}
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if (right > 0)
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{
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right_.forward.setCompare(right);
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right_.backward.setCompare(0);
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}
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else
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{
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right_.forward.setCompare(0);
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right_.backward.setCompare(-1 * right);
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}
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}
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virtual void coast() override
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{
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left_.forward.setCompare(0);
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left_.backward.setCompare(0);
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right_.forward.setCompare(0);
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right_.backward.setCompare(0);
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}
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virtual void setBreak() override
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{
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left_.forward.setCompare(left_.forward.maxValue());
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left_.backward.setCompare(left_.backward.maxValue());
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right_.forward.setCompare(right_.forward.maxValue());
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right_.backward.setCompare(right_.backward.maxValue());
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}
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private:
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single_motor left_;
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single_motor right_;
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gpio sleep_pin_;
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};
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}// namespace Peripherals
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#endif /* SKULLC_PERIPHERALS_MOTORS_HPP_ */
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