Diff: TB6612.h

Revision:

2:ad4e7374e5c1

Parent:

0:810f315ba3dc

Child:

3:34ddc9038d9d

--- a/TB6612.h	Tue Oct 23 15:24:30 2012 +0000
+++ b/TB6612.h	Sun Jun 29 06:47:01 2014 +0000
@@ -1,9 +1,26 @@
-/**
- * Motor Driver TB6612 Control Library
+/* mbed TB6612FNG Library
+ *
+ * TB6612.h
+ *
+ * Copyright (c) 2010-2013 jksoft
  *
- * -- TB6612 is a device of the rohm. 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
  *
- * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
  */
 
 #ifndef MBED_TB6612_H
@@ -11,11 +28,51 @@
 
 #include "mbed.h"
 
+/** TB6612FNG  Library
+ *
+ * Example:
+ * @code
+ * // Drive the Motor
+
+#include "mbed.h"
+#include "TB6612.h"
+
+TB6612 motor(p21,p5,p6);    // PWMA,AIN1,AIN2
+ 
+int main() {
+
+    motor = 0.0;        // Motor stopped.
+
+    while(1)
+    {
+        motor = 0.5;    // Motor forward.
+        wait(2.0);
+        motor = -0.5;   // Motor reversal.
+        wait(2.0);
+    }
+ }
+
+ * @endcode
+ */
+
 class TB6612 {
+    // Public functions
 public:
+    /** Create a TB6612 connected to the specified pins.
+     * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed.
+     * @param fwd A DigitalOut, set high when the motor should go forward.
+     * @param rev A DigitalOut, set high when the motor should go backwards.
+     */
     TB6612(PinName pwm, PinName fwd, PinName rev);
-    void speed(float speed);
-    void move(float speed , float time);
+    /** Directly control the speed and direction of the motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     * @return return the stopped state or direction of rotation.
+     */
+    float speed(float speed);
+    /** A operator shorthand for speed()
+     *
+     */ 
     void operator= ( float value )
     {
         speed(value);
@@ -25,11 +82,6 @@
     PwmOut _pwm;
     DigitalOut _fwd;
     DigitalOut _rev;
-    Timeout timer;
-    float    bspeed;
-    bool     timer_flag;
-    void timeout();
-
 };
 
 #endif