Diff: TB6612FNG/TB6612FNG.cpp

Revision:

0:22391cd705e2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG/TB6612FNG.cpp	Sat Jun 15 20:52:15 2019 +0000
@@ -0,0 +1,118 @@
+/* File: TB6612FNG.h
+ * Author: Robert Abad      Copyright (c) 2013
+ *
+ * Desc: driver for TB6612FNG Motor Driver.  For further details see
+ *       header file, TB6612FNG.h
+ */
+
+#include "mbed.h"
+#include "TB6612FNG.h"
+
+#define SIGNAL_HIGH     (1)
+#define SIGNAL_LOW      (0)
+
+TB6612FNG::TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
+                      PinName pinPwmB, PinName pinBin1, PinName pinBin2,
+                      PinName pinNStby ) :
+pwmA(pinPwmA),
+Ain1(pinAin1),
+Ain2(pinAin2),
+pwmB(pinPwmB),
+Bin1(pinBin1),
+Bin2(pinBin2),
+nStby(pinNStby)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_LOW;
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_LOW;
+    pwmA.period(TB6612FNG_PWM_PERIOD_DEFAULT);
+    pwmA = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
+    pwmB.period(TB6612FNG_PWM_PERIOD_DEFAULT);
+    pwmB = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
+    nStby = SIGNAL_LOW;
+}
+
+void TB6612FNG::setPwmA(float fPeriod, float fPulsewidth)
+{
+    pwmA.period(fPeriod);
+    pwmA = fPulsewidth;
+}
+
+void TB6612FNG::setPwmAperiod(float fPeriod)
+{
+    pwmA.period(fPeriod);
+}
+
+void TB6612FNG::setPwmApulsewidth(float fPulsewidth)
+{
+    pwmA = fPulsewidth;
+}
+float TB6612FNG::getPwmA()
+{
+    return pwmA;
+}
+float TB6612FNG::getPwmB()
+{
+    return pwmB;
+}
+void TB6612FNG::setPwmB(float fPeriod, float fPulsewidth)
+{
+    pwmB.period(fPeriod);
+    pwmB = fPulsewidth;
+}
+
+void TB6612FNG::setPwmBperiod(float fPeriod)
+{
+    pwmB.period(fPeriod);
+}
+
+void TB6612FNG::setPwmBpulsewidth(float fPulsewidth)
+{
+    pwmB = fPulsewidth;
+}
+
+void TB6612FNG::standby(void)
+{
+    nStby = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorA_stop(void)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorA_ccw(void)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_HIGH;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorA_cw(void)
+{
+    Ain1 = SIGNAL_HIGH;
+    Ain2 = SIGNAL_LOW;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorB_stop(void)
+{
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorB_ccw(void)
+{
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_HIGH;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorB_cw(void)
+{
+    Bin1 = SIGNAL_HIGH;
+    Bin2 = SIGNAL_LOW;
+    nStby = SIGNAL_HIGH;
+}
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