TB6612FNG.h

00001 // TB6612FNG Motor Driver
00002 #ifndef MBED_TB6612FNG_H
00003 #define MBED_TB6612FNG_H
00004 
00005 #include "mbed.h"
00006 
00007 /** TB6612FNG control class.
00008  *
00009  * Example:
00010  * @code
00011  * //Perform readings on two i2c devices with the same address
00012  * #include "TB6612FNG.h"
00013  * #include "mbed.h"
00014  *
00015  *
00016  * int main() {
00017  *       
00018  *   while(1) {
00019  *   }
00020  * }
00021  * @endcode
00022  */
00023 
00024 class TB6612FNG {
00025     private:
00026         bool on;
00027         
00028         DigitalOut *dir1;
00029         DigitalOut *dir2;
00030         PwmOut *pwm;
00031         DigitalOut *stby;
00032         
00033     public:
00034         /** Initialize object with default pins */
00035         TB6612FNG();
00036         
00037         /** Initialize object with specific motor pins
00038         * 
00039         * @param idir1 Direction pin (IN1)
00040         * @param idir2 Second direction pin (IN2)
00041         * @param ipwm Motor PWM pin (PWM)
00042         * @param istby SCL pin
00043         */
00044         TB6612FNG(PinName idir1, PinName idir2, PinName ipwm, PinName istby);
00045         
00046         /** Change the pins the motor was initialized with
00047         * 
00048         * @param idir1 Direction pin (IN1)
00049         * @param idir2 Second direction pin (IN2)
00050         * @param ipwm Motor PWM pin (PWM)
00051         * @param istby SCL pin
00052         */
00053         void config(PinName idir1, PinName idir2, PinName ipwm, PinName istby);
00054         
00055         /** Enables the motor
00056         */
00057         void start();
00058         
00059         /** Stops the motor from moving
00060         */
00061         void stop();
00062         
00063         /** Disables the motor, puts it into standby
00064         */
00065         void standby();
00066         
00067         /** Sets the motor to move forward at a given speed (as a percent [0,1])
00068         * @param speed Speed of the motor as a percent [0,1]
00069         */
00070         void fwd(float speed);
00071         
00072         /** Sets the motor to move backward at a given speed (as a percent [0,1])
00073         * @param speed Speed of the motor as a percent [0,1]
00074         */
00075         void rev(float speed);
00076         
00077 };
00078 
00079 #endif