*

2025-05-13 03:26:56 +03:00
parent 87a14db6f4
commit 154af64dde
563 changed files with 797817 additions and 0 deletions
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+/*
+ * motor.cpp
+ *
+ *  Created on: 08 íîÿá. 2015 ã.
+ *      Author: Sergey
+ */
+
+#include "motor.h"
+#include <algorithm>
+
+Motor::Motor()
+	:_channel(0), _pwm_timer(nullptr){
+}
+
+void Motor::init(TIM_HandleTypeDef* timer, uint32_t channel){
+	_pwm_timer = timer;
+	_channel = channel;
+}
+
+
+void Motor::set_speed(uint8_t speed_percent){
+	speed_percent = std::min<uint8_t>(100, speed_percent);
+	auto ccr_value = (_pwm_timer->Instance->ARR * speed_percent) / 100;
+
+	if(speed_percent == 0){
+		HAL_TIM_PWM_Stop(_pwm_timer, _channel);
+	}else{
+		switch (_channel){
+		case TIM_CHANNEL_1:
+			_pwm_timer->Instance->CCR1 = ccr_value;
+			break;
+		case TIM_CHANNEL_2:
+			_pwm_timer->Instance->CCR2 = ccr_value;
+			break;
+		case TIM_CHANNEL_3:
+			_pwm_timer->Instance->CCR3 = ccr_value;
+			break;
+		case TIM_CHANNEL_4:
+			_pwm_timer->Instance->CCR4 = ccr_value;
+			break;
+		}
+
+		HAL_TIM_PWM_Start(_pwm_timer, _channel);
+	}
+}