Diff: TB6612.cpp

Revision:

4:1354e56c7dd3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612.cpp	Wed Nov 20 08:06:46 2019 +0000
@@ -0,0 +1,57 @@
+/**
+ * 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);
+}
+ 
+// Speed Control
+//  arg
+//   int speed -100 -- 0 -- 100
+void TB6612::speed(int speed) {
+        
+    if( speed > 0 )
+    {
+        _pwm = ((float)speed) / 100.0;
+        _fwd = 1;
+        _rev = 0;
+    }
+    else if( speed < 0 )
+    {
+        _pwm = -((float)speed) / 100.0;
+        _fwd = 0;
+        _rev = 1;
+    }
+    else
+    {
+        _fwd = 1;
+        _rev = 1;
+    }
+}
+ 
+ 
+// Speed Control with time-out
+//  arg
+//   int speed -100 -- 0 -- 100
+//   int time  0
+void TB6612::move(int sspeed , int time)
+{
+    speed(sspeed);
+    wait_ms(time);
+}
+ 
+            
\ No newline at end of file