Diff: TB6612FNG/TB6612FNG.h

Revision:

0:22391cd705e2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG/TB6612FNG.h	Sat Jun 15 20:52:15 2019 +0000
@@ -0,0 +1,98 @@
+/* File: TB6612FNG.h
+ * Author: Robert Abad      Copyright (c) 2013
+ *
+ * Desc: driver for Toshiiba TB6612FNG Motor Driver.  Though this motor driver
+ *       can be used to drive two motors (A and B), it can be used to drive
+ *       just one. Member functions can be used to set period and pulsewidth
+ *       but are not necessary as the constructor does set default values).
+ *       The datasheet for this device can be found here:
+ *       http://www.toshiba.com/taec/components2/Datasheet_Sync/261/27197.pdf
+ *
+ *       Below is some sample code:
+ *
+ *       #include "mbed.h"
+ *       #include "TB6612FNG.h"
+ *
+ *       #define TB6612FNG_PIN_PWMA      (p22)
+ *       #define TB6612FNG_PIN_AIN1      (p17)
+ *       #define TB6612FNG_PIN_AIN2      (p16)
+ *       #define TB6612FNG_PIN_PWMB      (p21)
+ *       #define TB6612FNG_PIN_BIN1      (p19)
+ *       #define TB6612FNG_PIN_BIN2      (p20)
+ *       #define TB6612FNG_PIN_NSTBY     (p18)
+ *       TB6612FNG motorDriver( TB6612FNG_PIN_PWMA, TB6612FNG_PIN_AIN1, TB6612FNG_PIN_AIN2,
+ *                              TB6612FNG_PIN_PWMB, TB6612FNG_PIN_BIN1, TB6612FNG_PIN_BIN2,
+ *                              TB6612FNG_PIN_NSTBY );
+ *       float fPwmPeriod;
+ *       float fPwmPulsewidth;
+ *
+ *       int main()
+ *       {
+ *           fPwmPeriod = 0.00002f;      // 50KHz
+ *           fPwmPulsewidth = 0.50;      // 50% duty cycle
+ *           motorDriver.setPwmAperiod(fPwmPeriod);
+ *           motorDriver.setPwmBperiod(fPwmPeriod);
+ *           motorDriver.setPwmApulsewidth(fPwmPulsewidth);
+ *           motorDriver.setPwmBpulsewidth(fPwmPulsewidth);
+ *   
+ *           while(1)
+ *           {
+ *               motorDriver.motorA_ccw();
+ *               wait(2);
+ *               motorDriver.motorA_cw();
+ *               wait(2);
+ *               motorDriver.motorA_stop();
+ *               wait(2);
+ *               motorDriver.motorB_ccw();
+ *               wait(2);
+ *               motorDriver.motorB_cw();
+ *               wait(2);
+ *               motorDriver.motorB_stop();
+ *               wait(2);
+ *           }
+ *       }
+ */
+
+#ifndef __TB6612FNG_H__
+#define __TB6612FNG_H__
+
+#include "mbed.h"
+
+#define TB6612FNG_PWM_PERIOD_DEFAULT      (0.00002)   // 50KHz
+#define TB6612FNG_PWM_PULSEWIDTH_DEFAULT  (0.50)      // 속도 이거다!
+ 
+class TB6612FNG
+{
+public:
+    TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
+               PinName pinPwmB, PinName pinBin1, PinName pinBin2,
+               PinName pinNStby );
+    void setPwmA(float fPeriod, float fPulsewidth);
+    void setPwmAperiod(float fPeriod);
+    void setPwmApulsewidth(float fPulsewidth);
+    void setPwmB(float fPeriod, float fPulsewidth);
+    void setPwmBperiod(float fPeriod);
+    void setPwmBpulsewidth(float fPulsewidth);
+    void standby(void);
+    void motorA_stop(void);
+    void motorA_ccw(void);
+    void motorA_cw(void);
+    void motorB_stop(void);
+    void motorB_ccw(void);
+    void motorB_cw(void);
+    void upPulsewidth(void);
+    void downPulsewidth(void);
+    float getPwmA(void);
+    float getPwmB(void);
+    
+private:
+    PwmOut pwmA;
+    DigitalOut Ain1;
+    DigitalOut Ain2;
+    PwmOut pwmB;
+    DigitalOut Bin1;
+    DigitalOut Bin2;
+    DigitalOut nStby;
+};
+
+#endif /* __TB6612FNG_H__ */
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