Final Project / Mbed 2 deprecated Remote-Control

Final Project로 실제 점검에 사용된 코드

Dependencies:   mbed Adafruit_GFX

TB6612FNG/TB6612FNG.cpp@0:22391cd705e2, 2019-06-15 (annotated)

Committer:
21400688
Date:
Sat Jun 15 20:52:15 2019 +0000
Revision:
0:22391cd705e2
vb

Who changed what in which revision?

UserRevisionLine numberNew contents of line
21400688 0:22391cd705e2 1 /* File: TB6612FNG.h
21400688 0:22391cd705e2 2 * Author: Robert Abad Copyright (c) 2013
21400688 0:22391cd705e2 3 *
21400688 0:22391cd705e2 4 * Desc: driver for TB6612FNG Motor Driver. For further details see
21400688 0:22391cd705e2 5 * header file, TB6612FNG.h
21400688 0:22391cd705e2 6 */
21400688 0:22391cd705e2 7
21400688 0:22391cd705e2 8 #include "mbed.h"
21400688 0:22391cd705e2 9 #include "TB6612FNG.h"
21400688 0:22391cd705e2 10
21400688 0:22391cd705e2 11 #define SIGNAL_HIGH (1)
21400688 0:22391cd705e2 12 #define SIGNAL_LOW (0)
21400688 0:22391cd705e2 13
21400688 0:22391cd705e2 14 TB6612FNG::TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
21400688 0:22391cd705e2 15 PinName pinPwmB, PinName pinBin1, PinName pinBin2,
21400688 0:22391cd705e2 16 PinName pinNStby ) :
21400688 0:22391cd705e2 17 pwmA(pinPwmA),
21400688 0:22391cd705e2 18 Ain1(pinAin1),
21400688 0:22391cd705e2 19 Ain2(pinAin2),
21400688 0:22391cd705e2 20 pwmB(pinPwmB),
21400688 0:22391cd705e2 21 Bin1(pinBin1),
21400688 0:22391cd705e2 22 Bin2(pinBin2),
21400688 0:22391cd705e2 23 nStby(pinNStby)
21400688 0:22391cd705e2 24 {
21400688 0:22391cd705e2 25 Ain1 = SIGNAL_LOW;
21400688 0:22391cd705e2 26 Ain2 = SIGNAL_LOW;
21400688 0:22391cd705e2 27 Bin1 = SIGNAL_LOW;
21400688 0:22391cd705e2 28 Bin2 = SIGNAL_LOW;
21400688 0:22391cd705e2 29 pwmA.period(TB6612FNG_PWM_PERIOD_DEFAULT);
21400688 0:22391cd705e2 30 pwmA = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
21400688 0:22391cd705e2 31 pwmB.period(TB6612FNG_PWM_PERIOD_DEFAULT);
21400688 0:22391cd705e2 32 pwmB = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
21400688 0:22391cd705e2 33 nStby = SIGNAL_LOW;
21400688 0:22391cd705e2 34 }
21400688 0:22391cd705e2 35
21400688 0:22391cd705e2 36 void TB6612FNG::setPwmA(float fPeriod, float fPulsewidth)
21400688 0:22391cd705e2 37 {
21400688 0:22391cd705e2 38 pwmA.period(fPeriod);
21400688 0:22391cd705e2 39 pwmA = fPulsewidth;
21400688 0:22391cd705e2 40 }
21400688 0:22391cd705e2 41
21400688 0:22391cd705e2 42 void TB6612FNG::setPwmAperiod(float fPeriod)
21400688 0:22391cd705e2 43 {
21400688 0:22391cd705e2 44 pwmA.period(fPeriod);
21400688 0:22391cd705e2 45 }
21400688 0:22391cd705e2 46
21400688 0:22391cd705e2 47 void TB6612FNG::setPwmApulsewidth(float fPulsewidth)
21400688 0:22391cd705e2 48 {
21400688 0:22391cd705e2 49 pwmA = fPulsewidth;
21400688 0:22391cd705e2 50 }
21400688 0:22391cd705e2 51 float TB6612FNG::getPwmA()
21400688 0:22391cd705e2 52 {
21400688 0:22391cd705e2 53 return pwmA;
21400688 0:22391cd705e2 54 }
21400688 0:22391cd705e2 55 float TB6612FNG::getPwmB()
21400688 0:22391cd705e2 56 {
21400688 0:22391cd705e2 57 return pwmB;
21400688 0:22391cd705e2 58 }
21400688 0:22391cd705e2 59 void TB6612FNG::setPwmB(float fPeriod, float fPulsewidth)
21400688 0:22391cd705e2 60 {
21400688 0:22391cd705e2 61 pwmB.period(fPeriod);
21400688 0:22391cd705e2 62 pwmB = fPulsewidth;
21400688 0:22391cd705e2 63 }
21400688 0:22391cd705e2 64
21400688 0:22391cd705e2 65 void TB6612FNG::setPwmBperiod(float fPeriod)
21400688 0:22391cd705e2 66 {
21400688 0:22391cd705e2 67 pwmB.period(fPeriod);
21400688 0:22391cd705e2 68 }
21400688 0:22391cd705e2 69
21400688 0:22391cd705e2 70 void TB6612FNG::setPwmBpulsewidth(float fPulsewidth)
21400688 0:22391cd705e2 71 {
21400688 0:22391cd705e2 72 pwmB = fPulsewidth;
21400688 0:22391cd705e2 73 }
21400688 0:22391cd705e2 74
21400688 0:22391cd705e2 75 void TB6612FNG::standby(void)
21400688 0:22391cd705e2 76 {
21400688 0:22391cd705e2 77 nStby = SIGNAL_LOW;
21400688 0:22391cd705e2 78 }
21400688 0:22391cd705e2 79
21400688 0:22391cd705e2 80 void TB6612FNG::motorA_stop(void)
21400688 0:22391cd705e2 81 {
21400688 0:22391cd705e2 82 Ain1 = SIGNAL_LOW;
21400688 0:22391cd705e2 83 Ain2 = SIGNAL_LOW;
21400688 0:22391cd705e2 84 }
21400688 0:22391cd705e2 85
21400688 0:22391cd705e2 86 void TB6612FNG::motorA_ccw(void)
21400688 0:22391cd705e2 87 {
21400688 0:22391cd705e2 88 Ain1 = SIGNAL_LOW;
21400688 0:22391cd705e2 89 Ain2 = SIGNAL_HIGH;
21400688 0:22391cd705e2 90 nStby = SIGNAL_HIGH;
21400688 0:22391cd705e2 91 }
21400688 0:22391cd705e2 92
21400688 0:22391cd705e2 93 void TB6612FNG::motorA_cw(void)
21400688 0:22391cd705e2 94 {
21400688 0:22391cd705e2 95 Ain1 = SIGNAL_HIGH;
21400688 0:22391cd705e2 96 Ain2 = SIGNAL_LOW;
21400688 0:22391cd705e2 97 nStby = SIGNAL_HIGH;
21400688 0:22391cd705e2 98 }
21400688 0:22391cd705e2 99
21400688 0:22391cd705e2 100 void TB6612FNG::motorB_stop(void)
21400688 0:22391cd705e2 101 {
21400688 0:22391cd705e2 102 Bin1 = SIGNAL_LOW;
21400688 0:22391cd705e2 103 Bin2 = SIGNAL_LOW;
21400688 0:22391cd705e2 104 }
21400688 0:22391cd705e2 105
21400688 0:22391cd705e2 106 void TB6612FNG::motorB_ccw(void)
21400688 0:22391cd705e2 107 {
21400688 0:22391cd705e2 108 Bin1 = SIGNAL_LOW;
21400688 0:22391cd705e2 109 Bin2 = SIGNAL_HIGH;
21400688 0:22391cd705e2 110 nStby = SIGNAL_HIGH;
21400688 0:22391cd705e2 111 }
21400688 0:22391cd705e2 112
21400688 0:22391cd705e2 113 void TB6612FNG::motorB_cw(void)
21400688 0:22391cd705e2 114 {
21400688 0:22391cd705e2 115 Bin1 = SIGNAL_HIGH;
21400688 0:22391cd705e2 116 Bin2 = SIGNAL_LOW;
21400688 0:22391cd705e2 117 nStby = SIGNAL_HIGH;
21400688 0:22391cd705e2 118 }