Diff: TB6612FNG.h

Revision:

5:822a7407ccb3

Parent:

4:cc00e3842f1b

Child:

6:560b232837cf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG.h	Wed Mar 22 20:56:36 2017 +0000
@@ -0,0 +1,76 @@
+// TB6612FNG Motor Driver
+#ifndef MBED_TB6612FNG_H
+#define MBED_TB6612FNG_H
+
+#include "mbed.h"
+
+/** TB6612FNG control class.
+ *
+ * Example:
+ * @code
+ * //Perform readings on two i2c devices with the same address
+ * #include "TB6612FNG.h"
+ * #include "mbed.h"
+ *
+ *
+ * int main() {
+ *       
+ *   while(1) {
+ *   }
+ * }
+ * @endcode
+ */
+
+class TB6612FNG {
+    private:
+        bool on;
+        
+        DigitalOut *dir1;
+        DigitalOut *dir2;
+        PwmOut *pwm;
+        DigitalOut *stby;
+        
+    public:
+        /** Initialize object with default pins */
+        TB6612FNG();
+        
+        /** Initialize object with specific i2c pins
+        * 
+        * @param idir1 Direction pin (IN1)
+        * @param idir2 Second direction pin (IN2)
+        * @param ipwm Motor PWM pin (PWM)
+        * @param istby SCL pin
+        */
+        TB6612FNG(PinName idir1, PinName idir2, PinName ipwm, PinName istby);
+        
+        
+        /** Change the pins the motor was initialized with
+        * 
+        * @param idir1 Direction pin (IN1)
+        * @param idir2 Second direction pin (IN2)
+        * @param ipwm Motor PWM pin (PWM)
+        * @param istby SCL pin
+        */
+        void config(PinName idir1, PinName idir2, PinName ipwm, PinName istby);
+        
+        /** Enables the motor
+        */
+        void start();
+        
+        /** Disables the motor, puts it into standby
+        */
+        void stop();
+        
+        /** Sets the motor to move forward at a given speed (as a percent [0,1])
+        * @param speed Speed of the motor as a percent [0,1]
+        */
+        void fwd(float speed);
+        
+        /** Sets the motor to move backward at a given speed (as a percent [0,1])
+        * @param speed Speed of the motor as a percent [0,1]
+        */
+        void rev(float speed);
+        
+};
+
+#endif
\ No newline at end of file