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:
- 2014-08-29
- Revision:
- 4:95d5e9ee8c15
- Parent:
- 2:ad4e7374e5c1
- Child:
- 5:80ac3e662fe4
File content as of revision 4:95d5e9ee8c15:
/* wallbot mini Library * * wallbotmini.cpp * * Copyright (c) 2010-2013 jksoft * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #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; stat = 0; _pwm.period(0.001); } // Speed Control // arg // float speed -1.0 - 0.0 - 1.0 float TB6612::speed(float speed) { if( speed > 0.0 ) { _pwm = speed; _fwd = 1; _rev = 0; stat = 1; } else if( speed < 0.0 ) { _pwm = -speed; _fwd = 0; _rev = 1; stat = -1; } else { _fwd = 1; _rev = 1; stat = 0; } return speed==0 ? 0 : speed > 0 ? 1 : -1; }