Class導入前です まだできてません
Dependencies: mbed CameraUS015sb612-3
TB6612.cpp
- Committer:
- YUPPY
- Date:
- 2019-11-20
- Revision:
- 4:1354e56c7dd3
File content as of revision 4:1354e56c7dd3:
/** * 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); }