EdgeBotix / TB6612FNG2

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TB6612.cpp@4:53e02c276f23, 2014-10-05 (annotated)

Committer:
Throwbot
Date:
Sun Oct 05 12:20:35 2014 +0000
Revision:
4:53e02c276f23
Parent:
3:cb336a5cf19e 
Motor Driver change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:810f315ba3dc 1 /**
jksoft 0:810f315ba3dc 2 * Motor Driver TB6612 Control Library
jksoft 0:810f315ba3dc 3 *
jksoft 0:810f315ba3dc 4 * -- TB6612 is a device of the TOSHIBA.
jksoft 0:810f315ba3dc 5 *
jksoft 0:810f315ba3dc 6 * Copyright (C) 2012 Junichi Katsu (JKSOFT)
jksoft 0:810f315ba3dc 7 */
jksoft 0:810f315ba3dc 8
jksoft 0:810f315ba3dc 9
jksoft 0:810f315ba3dc 10 #include "TB6612.h"
jksoft 0:810f315ba3dc 11
jksoft 0:810f315ba3dc 12 // TB6612 Class Constructor
jksoft 0:810f315ba3dc 13 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
Throwbot 2:73cbc6028f7a 14 scale(1), _pwm(pwm), _fwd(fwd), _rev(rev) {
jksoft 0:810f315ba3dc 15
jksoft 0:810f315ba3dc 16 _fwd = 0;
jksoft 0:810f315ba3dc 17 _rev = 0;
jksoft 0:810f315ba3dc 18 _pwm = 0.0;
jksoft 0:810f315ba3dc 19 _pwm.period(0.001);
jksoft 0:810f315ba3dc 20 }
jksoft 0:810f315ba3dc 21
jksoft 0:810f315ba3dc 22 // Speed Control
jksoft 0:810f315ba3dc 23 // arg
jksoft 1:051a7ecff13e 24 // int speed -100 -- 0 -- 100
Throwbot 3:cb336a5cf19e 25 void TB6612::speed(int speed_) {
Throwbot 4:53e02c276f23 26 _speed = speed_;
Throwbot 3:cb336a5cf19e 27 float speed = scale*(float)speed_;
Throwbot 2:73cbc6028f7a 28
jksoft 1:051a7ecff13e 29 if( speed > 0 )
jksoft 0:810f315ba3dc 30 {
Throwbot 2:73cbc6028f7a 31 _pwm = ((float)speed)/ 100.0;
jksoft 0:810f315ba3dc 32 _fwd = 1;
jksoft 0:810f315ba3dc 33 _rev = 0;
jksoft 0:810f315ba3dc 34 }
jksoft 1:051a7ecff13e 35 else if( speed < 0 )
jksoft 0:810f315ba3dc 36 {
Throwbot 2:73cbc6028f7a 37 _pwm = -((float)speed)/ 100.0;
jksoft 0:810f315ba3dc 38 _fwd = 0;
jksoft 0:810f315ba3dc 39 _rev = 1;
jksoft 0:810f315ba3dc 40 }
jksoft 0:810f315ba3dc 41 else
jksoft 0:810f315ba3dc 42 {
jksoft 0:810f315ba3dc 43 _fwd = 1;
jksoft 0:810f315ba3dc 44 _rev = 1;
jksoft 0:810f315ba3dc 45 }
jksoft 0:810f315ba3dc 46 }
Throwbot 4:53e02c276f23 47 int TB6612::getSpeed(){
Throwbot 4:53e02c276f23 48 return _speed;
Throwbot 4:53e02c276f23 49 }
Throwbot 4:53e02c276f23 50