Diff: TB6612FNG.cpp

Revision:

5:822a7407ccb3

Parent:

4:cc00e3842f1b

Child:

7:e1be74ebe7be

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG.cpp	Wed Mar 22 20:56:36 2017 +0000
@@ -0,0 +1,48 @@
+#include "TB6612FNG.h"
+
+TB6612FNG::TB6612FNG(){
+}
+
+TB6612FNG::TB6612FNG(PinName idir1, PinName idir2, PinName ipwm, PinName istby){
+    config(idir1,idir2,ipwm,istby);
+}
+      
+void TB6612FNG::config(PinName idir1, PinName idir2, PinName ipwm, PinName istby){
+    dir1 = new DigitalOut(idir1);
+    dir2 = new DigitalOut(idir2);
+    pwm = new PwmOut(ipwm);
+    stby = new DigitalOut(istby);
+    stop();
+}
+
+void TB6612FNG::start(){
+    on = true;
+    *dir1 = 1;
+    *dir2 = 1;
+    *pwm = 0;
+    *stby = 0;
+}
+
+void TB6612FNG::stop(){
+    on = false;
+    *dir1 = 0;
+    *dir2 = 0;
+    *pwm = 1;
+    *stby = 1;
+}
+
+void TB6612FNG::fwd(float speed){
+    if(on && speed <= 1){
+        *dir1 = 1;
+        *dir2 = 0;
+        *pwm = speed;
+    }
+}
+
+void TB6612FNG::rev(float speed){
+    if(on && speed <= 1){
+        *dir1 = 0;
+        *dir2 = 1;
+        *pwm = speed;
+    }
+}
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