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.h
- Revision:
- 0:c4c874d702f9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG/TB6612FNG.h Sat Jun 15 20:39:39 2019 +0000
@@ -0,0 +1,96 @@
+/* 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);
+
+private:
+ PwmOut pwmA;
+ DigitalOut Ain1;
+ DigitalOut Ain2;
+ PwmOut pwmB;
+ DigitalOut Bin1;
+ DigitalOut Bin2;
+ DigitalOut nStby;
+};
+
+#endif /* __TB6612FNG_H__ */
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