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
- Committer:
- jksoft
- Date:
- 2014-08-29
- Revision:
- 4:95d5e9ee8c15
- Parent:
- 3:34ddc9038d9d
File content as of revision 4:95d5e9ee8c15:
/* mbed TB6612FNG Library * * TB6612.h * * 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. */ #ifndef MBED_TB6612_H #define MBED_TB6612_H #include "mbed.h" /** TB6612FNG Library * * Example: * @code * // Drive the Motor #include "mbed.h" #include "TB6612.h" TB6612 motor(p21,p5,p6); // PWMA,AIN1,AIN2 int main() { motor = 0.0; // Motor stopped. while(1) { motor = 0.5; // Motor forward. wait(2.0); motor = -0.5; // Motor reversal. wait(2.0); } } * @endcode */ class TB6612 { // Public functions public: /** Create a TB6612 connected to the specified pins. * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed.(PwmOutに対応したポートを指定します。) * @param fwd A DigitalOut, set high when the motor should go forward.(DigitalOutに対応したポートを指定します。) * @param rev A DigitalOut, set high when the motor should go backwards.(DigitalOutに対応したポートを指定します。) */ TB6612(PinName pwm, PinName fwd, PinName rev); /** Directly control the speed and direction of the motor * * @param speed A normalised number -1.0 - 1.0 represents the full range. * @return return the stopped state or direction of rotation. */ float speed(float speed); /** A operator shorthand for speed() * */ void operator= ( float value ) { speed(value); } operator int() { return(stat); } protected: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; int stat; }; #endif