cansat_B 2019 / Mbed 2 deprecated Motor_TB6612_all_doing

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Dependencies:   mbed

TB6612.cpp@2:9885740002da, 2019-11-08 (annotated)

Committer:
KINU
Date:
Fri Nov 08 16:54:04 2019 +0000
Revision:
2:9885740002da
Drivemoter completed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KINU 2:9885740002da 1 /**
KINU 2:9885740002da 2 * Motor Driver TB6612 Control Library
KINU 2:9885740002da 3 *
KINU 2:9885740002da 4 * -- TB6612 is a device of the TOSHIBA.
KINU 2:9885740002da 5 *
KINU 2:9885740002da 6 * Copyright (C) 2012 Junichi Katsu (JKSOFT)
KINU 2:9885740002da 7 */
KINU 2:9885740002da 8
KINU 2:9885740002da 9
KINU 2:9885740002da 10 #include "TB6612.h"
KINU 2:9885740002da 11
KINU 2:9885740002da 12 // TB6612 Class Constructor
KINU 2:9885740002da 13 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
KINU 2:9885740002da 14 _pwm(pwm), _fwd(fwd), _rev(rev) {
KINU 2:9885740002da 15
KINU 2:9885740002da 16 _fwd = 0;
KINU 2:9885740002da 17 _rev = 0;
KINU 2:9885740002da 18 _pwm = 0.0;
KINU 2:9885740002da 19 _pwm.period(0.001);
KINU 2:9885740002da 20 }
KINU 2:9885740002da 21
KINU 2:9885740002da 22 // Speed Control
KINU 2:9885740002da 23 // arg
KINU 2:9885740002da 24 // int speed -100 -- 0 -- 100
KINU 2:9885740002da 25 void TB6612::speed(int speed) {
KINU 2:9885740002da 26
KINU 2:9885740002da 27 if( speed > 0 )
KINU 2:9885740002da 28 {
KINU 2:9885740002da 29 _pwm = ((float)speed) / 100.0;
KINU 2:9885740002da 30 _fwd = 1;
KINU 2:9885740002da 31 _rev = 0;
KINU 2:9885740002da 32 }
KINU 2:9885740002da 33 else if( speed < 0 )
KINU 2:9885740002da 34 {
KINU 2:9885740002da 35 _pwm = -((float)speed) / 100.0;
KINU 2:9885740002da 36 _fwd = 0;
KINU 2:9885740002da 37 _rev = 1;
KINU 2:9885740002da 38 }
KINU 2:9885740002da 39 else
KINU 2:9885740002da 40 {
KINU 2:9885740002da 41 _fwd = 1;
KINU 2:9885740002da 42 _rev = 1;
KINU 2:9885740002da 43 }
KINU 2:9885740002da 44 }
KINU 2:9885740002da 45
KINU 2:9885740002da 46
KINU 2:9885740002da 47 // Speed Control with time-out
KINU 2:9885740002da 48 // arg
KINU 2:9885740002da 49 // int speed -100 -- 0 -- 100
KINU 2:9885740002da 50 // int time 0
KINU 2:9885740002da 51 void TB6612::move(int sspeed , int time)
KINU 2:9885740002da 52 {
KINU 2:9885740002da 53 speed(sspeed);
KINU 2:9885740002da 54 wait_ms(time);
KINU 2:9885740002da 55 }
KINU 2:9885740002da 56
KINU 2:9885740002da 57