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.cpp
- Committer:
- jksoft
- Date:
- 2012-10-23
- Revision:
- 0:810f315ba3dc
- Child:
- 1:051a7ecff13e
- Child:
- 2:ad4e7374e5c1
File content as of revision 0:810f315ba3dc:
/** * Motor Driver TB6612 Control Library * * -- TB6612 is a device of the TOSHIBA. * * Copyright (C) 2012 Junichi Katsu (JKSOFT) */ #include "TB6612.h" // TB6612 Class Constructor TB6612::TB6612(PinName pwm, PinName fwd, PinName rev): _pwm(pwm), _fwd(fwd), _rev(rev) { _fwd = 0; _rev = 0; _pwm = 0.0; _pwm.period(0.001); bspeed = 0.0; timer_flag = false; } // Speed Control // arg // float speed -1.0 - 0.0 - 1.0 void TB6612::speed(float speed) { if( timer_flag == true ) return; bspeed = speed; if( speed > 0.0 ) { _pwm = speed; _fwd = 1; _rev = 0; } else if( speed < 0.0 ) { _pwm = -speed; _fwd = 0; _rev = 1; } else { _fwd = 1; _rev = 1; } } // Speed Control with time-out // arg // float sspeed:-1.0 - 0.0 - 1.0 // float time :0.0- void TB6612::move(float sspeed , float time) { speed(sspeed); timer_flag = true; timer.attach(this,&TB6612::timeout,time); } void TB6612::timeout() { timer_flag = false; speed(bspeed); }