Diff: motor/TB6612FNG.cpp

Revision:

94:9050bb458b00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor/TB6612FNG.cpp	Sun Jun 16 16:40:51 2019 +0000
@@ -0,0 +1,112 @@
+/* File: TB6612FNG.h
+ * Author: Robert Abad      Copyright (c) 2013
+ *
+ * Desc: driver for TB6612FNG Motor Driver.  For further details see
+ *       header file, TB6612FNG.h
+ */
+
+#include "mbed.h"
+#include "TB6612FNG.h"
+
+#define SIGNAL_HIGH     (1)
+#define SIGNAL_LOW      (0)
+
+TB6612FNG::TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
+                      PinName pinPwmB, PinName pinBin1, PinName pinBin2,
+                      PinName pinNStby ) :
+pwmA(pinPwmA),
+Ain1(pinAin1),
+Ain2(pinAin2),
+pwmB(pinPwmB),
+Bin1(pinBin1),
+Bin2(pinBin2),
+nStby(pinNStby)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_LOW;
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_LOW;
+    pwmA.period(TB6612FNG_PWM_PERIOD_DEFAULT);
+    pwmA = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
+    pwmB.period(TB6612FNG_PWM_PERIOD_DEFAULT);
+    pwmB = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
+    nStby = SIGNAL_LOW;
+}
+
+void TB6612FNG::setPwmA(float fPeriod, float fPulsewidth)
+{
+    pwmA.period(fPeriod);
+    pwmA = fPulsewidth;
+}
+
+void TB6612FNG::setPwmAperiod(float fPeriod)
+{
+    pwmA.period(fPeriod);
+}
+
+void TB6612FNG::setPwmApulsewidth(float fPulsewidth)
+{
+    pwmA = fPulsewidth;
+}
+
+void TB6612FNG::setPwmB(float fPeriod, float fPulsewidth)
+{
+    pwmB.period(fPeriod);
+    pwmB = fPulsewidth;
+}
+
+void TB6612FNG::setPwmBperiod(float fPeriod)
+{
+    pwmB.period(fPeriod);
+}
+
+void TB6612FNG::setPwmBpulsewidth(float fPulsewidth)
+{
+    pwmB = fPulsewidth;
+}
+
+void TB6612FNG::standby(void)
+{
+    nStby = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorA_stop(void)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorA_ccw(void)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_HIGH;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorA_cw(void)
+{
+    Ain1 = SIGNAL_HIGH;
+    Ain2 = SIGNAL_LOW;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorB_stop(void)
+{
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorB_ccw(void)
+{
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_HIGH;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorB_cw(void)
+{
+    Bin1 = SIGNAL_HIGH;
+    Bin2 = SIGNAL_LOW;
+    nStby = SIGNAL_HIGH;
+}
+