TB6612FNG用のモータコントロールライブラリ
Dependents: TB6612FNG_test line_trace_sample line_trace_sample_saitou line_trace_sample_tamada ... more
TB6612.h@2:ad4e7374e5c1, 2014-06-29 (annotated)
- Committer:
- jksoft
- Date:
- Sun Jun 29 06:47:01 2014 +0000
- Revision:
- 2:ad4e7374e5c1
- Parent:
- 0:810f315ba3dc
- Child:
- 3:34ddc9038d9d
First edition.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jksoft | 2:ad4e7374e5c1 | 1 | /* mbed TB6612FNG Library |
jksoft | 2:ad4e7374e5c1 | 2 | * |
jksoft | 2:ad4e7374e5c1 | 3 | * TB6612.h |
jksoft | 2:ad4e7374e5c1 | 4 | * |
jksoft | 2:ad4e7374e5c1 | 5 | * Copyright (c) 2010-2013 jksoft |
jksoft | 0:810f315ba3dc | 6 | * |
jksoft | 2:ad4e7374e5c1 | 7 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jksoft | 2:ad4e7374e5c1 | 8 | * of this software and associated documentation files (the "Software"), to deal |
jksoft | 2:ad4e7374e5c1 | 9 | * in the Software without restriction, including without limitation the rights |
jksoft | 2:ad4e7374e5c1 | 10 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jksoft | 2:ad4e7374e5c1 | 11 | * copies of the Software, and to permit persons to whom the Software is |
jksoft | 2:ad4e7374e5c1 | 12 | * furnished to do so, subject to the following conditions: |
jksoft | 0:810f315ba3dc | 13 | * |
jksoft | 2:ad4e7374e5c1 | 14 | * The above copyright notice and this permission notice shall be included in |
jksoft | 2:ad4e7374e5c1 | 15 | * all copies or substantial portions of the Software. |
jksoft | 2:ad4e7374e5c1 | 16 | * |
jksoft | 2:ad4e7374e5c1 | 17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jksoft | 2:ad4e7374e5c1 | 18 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jksoft | 2:ad4e7374e5c1 | 19 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jksoft | 2:ad4e7374e5c1 | 20 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jksoft | 2:ad4e7374e5c1 | 21 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jksoft | 2:ad4e7374e5c1 | 22 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jksoft | 2:ad4e7374e5c1 | 23 | * THE SOFTWARE. |
jksoft | 0:810f315ba3dc | 24 | */ |
jksoft | 0:810f315ba3dc | 25 | |
jksoft | 0:810f315ba3dc | 26 | #ifndef MBED_TB6612_H |
jksoft | 0:810f315ba3dc | 27 | #define MBED_TB6612_H |
jksoft | 0:810f315ba3dc | 28 | |
jksoft | 0:810f315ba3dc | 29 | #include "mbed.h" |
jksoft | 0:810f315ba3dc | 30 | |
jksoft | 2:ad4e7374e5c1 | 31 | /** TB6612FNG Library |
jksoft | 2:ad4e7374e5c1 | 32 | * |
jksoft | 2:ad4e7374e5c1 | 33 | * Example: |
jksoft | 2:ad4e7374e5c1 | 34 | * @code |
jksoft | 2:ad4e7374e5c1 | 35 | * // Drive the Motor |
jksoft | 2:ad4e7374e5c1 | 36 | |
jksoft | 2:ad4e7374e5c1 | 37 | #include "mbed.h" |
jksoft | 2:ad4e7374e5c1 | 38 | #include "TB6612.h" |
jksoft | 2:ad4e7374e5c1 | 39 | |
jksoft | 2:ad4e7374e5c1 | 40 | TB6612 motor(p21,p5,p6); // PWMA,AIN1,AIN2 |
jksoft | 2:ad4e7374e5c1 | 41 | |
jksoft | 2:ad4e7374e5c1 | 42 | int main() { |
jksoft | 2:ad4e7374e5c1 | 43 | |
jksoft | 2:ad4e7374e5c1 | 44 | motor = 0.0; // Motor stopped. |
jksoft | 2:ad4e7374e5c1 | 45 | |
jksoft | 2:ad4e7374e5c1 | 46 | while(1) |
jksoft | 2:ad4e7374e5c1 | 47 | { |
jksoft | 2:ad4e7374e5c1 | 48 | motor = 0.5; // Motor forward. |
jksoft | 2:ad4e7374e5c1 | 49 | wait(2.0); |
jksoft | 2:ad4e7374e5c1 | 50 | motor = -0.5; // Motor reversal. |
jksoft | 2:ad4e7374e5c1 | 51 | wait(2.0); |
jksoft | 2:ad4e7374e5c1 | 52 | } |
jksoft | 2:ad4e7374e5c1 | 53 | } |
jksoft | 2:ad4e7374e5c1 | 54 | |
jksoft | 2:ad4e7374e5c1 | 55 | * @endcode |
jksoft | 2:ad4e7374e5c1 | 56 | */ |
jksoft | 2:ad4e7374e5c1 | 57 | |
jksoft | 0:810f315ba3dc | 58 | class TB6612 { |
jksoft | 2:ad4e7374e5c1 | 59 | // Public functions |
jksoft | 0:810f315ba3dc | 60 | public: |
jksoft | 2:ad4e7374e5c1 | 61 | /** Create a TB6612 connected to the specified pins. |
jksoft | 2:ad4e7374e5c1 | 62 | * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed. |
jksoft | 2:ad4e7374e5c1 | 63 | * @param fwd A DigitalOut, set high when the motor should go forward. |
jksoft | 2:ad4e7374e5c1 | 64 | * @param rev A DigitalOut, set high when the motor should go backwards. |
jksoft | 2:ad4e7374e5c1 | 65 | */ |
jksoft | 0:810f315ba3dc | 66 | TB6612(PinName pwm, PinName fwd, PinName rev); |
jksoft | 2:ad4e7374e5c1 | 67 | /** Directly control the speed and direction of the motor |
jksoft | 2:ad4e7374e5c1 | 68 | * |
jksoft | 2:ad4e7374e5c1 | 69 | * @param speed A normalised number -1.0 - 1.0 represents the full range. |
jksoft | 2:ad4e7374e5c1 | 70 | * @return return the stopped state or direction of rotation. |
jksoft | 2:ad4e7374e5c1 | 71 | */ |
jksoft | 2:ad4e7374e5c1 | 72 | float speed(float speed); |
jksoft | 2:ad4e7374e5c1 | 73 | /** A operator shorthand for speed() |
jksoft | 2:ad4e7374e5c1 | 74 | * |
jksoft | 2:ad4e7374e5c1 | 75 | */ |
jksoft | 0:810f315ba3dc | 76 | void operator= ( float value ) |
jksoft | 0:810f315ba3dc | 77 | { |
jksoft | 0:810f315ba3dc | 78 | speed(value); |
jksoft | 0:810f315ba3dc | 79 | } |
jksoft | 0:810f315ba3dc | 80 | |
jksoft | 0:810f315ba3dc | 81 | protected: |
jksoft | 0:810f315ba3dc | 82 | PwmOut _pwm; |
jksoft | 0:810f315ba3dc | 83 | DigitalOut _fwd; |
jksoft | 0:810f315ba3dc | 84 | DigitalOut _rev; |
jksoft | 0:810f315ba3dc | 85 | }; |
jksoft | 0:810f315ba3dc | 86 | |
jksoft | 0:810f315ba3dc | 87 | #endif |