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L298N.cpp
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L298N.cpp
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#include "L298N.h"
#ifndef LOW_PWM
#define LOW_PWM 0
L298N::L298N(){/*init constructor*/};
/**
* constructor function
* params map arduino pin to pin L298N module
*
* ena -> ENA or PWM pin motor left
* n1 -> N1
* n2 -> N2
* n3 -> N3
* n4 -> N4
* enb -> ENB or PWM pin right
*/
L298N::L298N(uint8_t ena, uint8_t n1, uint8_t n2, uint8_t n3, uint8_t n4, uint8_t enb)
{
this->ENA = ena;
this->ENB = enb;
this->N1 = n1;
this->N2 = n2;
this->N3 = n3;
this->N4 = n4;
}
/**
* initial arduino pin
*/
void L298N::begin()
{
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(N1, OUTPUT);
pinMode(N2, OUTPUT);
pinMode(N3, OUTPUT);
pinMode(N4, OUTPUT);
}
/**
* monit left (determine on README) trun right to left (Forward Clock)
* by specify speed (PWM) 0 - 255
*/
void L298N::motorLeftForwardClock(uint8_t PWM)
{
analogWrite(ENA, PWM);
digitalWrite(N1, HIGH);
digitalWrite(N2, LOW);
}
/**
* monit right (determine on README) trun right to left (Forward Clock)
* by specify speed (PWM) 0 - 255
*/
void L298N::motorRightForwardClock(uint8_t PWM)
{
analogWrite(ENB, PWM);
digitalWrite(N3, HIGH);
digitalWrite(N4, LOW);
}
/**
* monit left (determine on README) trun left to right (revert Clock)
* specify speed (PWM) is 0(0%) - 255(100%)
*/
void L298N::motorLeftRevertClock(uint8_t PWM)
{
analogWrite(ENA, PWM);
digitalWrite(N1, LOW);
digitalWrite(N2, HIGH);
}
/**
* monit right (determine on README) trun left to right (revert Clock)
* specify speed (PWM) is 0(0%) - 255(100%)
*/
void L298N::motorRightRevertClock(uint8_t PWM)
{
analogWrite(ENB, PWM);
digitalWrite(N3, LOW);
digitalWrite(N4, HIGH);
}
/**
* monit left (determine on README) break
* specify break speed (PWM) is 0(0%) - 255(100%)
* smooth break
*/
void L298N::motorLeftbreak(uint8_t PWM)
{
analogWrite(ENA, PWM);
digitalWrite(N1, HIGH);
digitalWrite(N2, HIGH);
}
/**
* monit right (determine on README) break
* specify break speed (PWM) is 0(0%) - 255(100%)
* smooth break
*/
void L298N::motorRightbreak(uint8_t PWM)
{
analogWrite(ENB, PWM);
digitalWrite(N3, HIGH);
digitalWrite(N4, HIGH);
}
/**
* monit left (determine on README) stop
*/
void L298N::motorLeftstop()
{
analogWrite(ENA, LOW_PWM);
digitalWrite(N1, LOW);
digitalWrite(N2, LOW);
}
/**
* monit right (determine on README) stop
*/
void L298N::motorRightstop()
{
analogWrite(ENB, LOW_PWM);
digitalWrite(N3, LOW);
digitalWrite(N4, LOW);
}
#endif