Final Project
나중에 급하게 PID 알고리즘을 적용해 짜본 코드... 시간이 충분치 않아서 그냥 원래 있던 코드를 수정해서 하기로 했기에 버려진 코드지만, 교수님께 참고용으로 Publish를 했다.
Dependencies: mbed Adafruit_GFX
Diff: TB6612FNG/TB6612FNG.cpp
- Revision:
- 0:c4c874d702f9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG/TB6612FNG.cpp Sat Jun 15 20:39:39 2019 +0000
@@ -0,0 +1,111 @@
+/* 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;
+}
+
+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;
+}
\ No newline at end of file