File content as of revision 99:08d58c8231ca:

/* File: TB6612FNG.h
 * Author: Robert Abad      Copyright (c) 2013
 *
 * Desc: driver for Toshiiba TB6612FNG Motor Driver.  Though this motor driver
 *       can be used to drive two motors (A and B), it can be used to drive
 *       just one. Member functions can be used to set period and pulsewidth
 *       but are not necessary as the constructor does set default values).
 *       The datasheet for this device can be found here:
 *       http://www.toshiba.com/taec/components2/Datasheet_Sync/261/27197.pdf
 *
 *       Below is some sample code:
 *
 *       #include "mbed.h"
 *       #include "TB6612FNG.h"
 *
 *       #define TB6612FNG_PIN_PWMA      (p22)
 *       #define TB6612FNG_PIN_AIN1      (p17)
 *       #define TB6612FNG_PIN_AIN2      (p16)
 *       #define TB6612FNG_PIN_PWMB      (p21)
 *       #define TB6612FNG_PIN_BIN1      (p19)
 *       #define TB6612FNG_PIN_BIN2      (p20)
 *       #define TB6612FNG_PIN_NSTBY     (p18)
 *       TB6612FNG motorDriver( TB6612FNG_PIN_PWMA, TB6612FNG_PIN_AIN1, TB6612FNG_PIN_AIN2,
 *                              TB6612FNG_PIN_PWMB, TB6612FNG_PIN_BIN1, TB6612FNG_PIN_BIN2,
 *                              TB6612FNG_PIN_NSTBY );
 *       float fPwmPeriod;
 *       float fPwmPulsewidth;
 *
 *       int main()
 *       {
 *           fPwmPeriod = 0.00002f;      // 50KHz
 *           fPwmPulsewidth = 0.50;      // 50% duty cycle
 *           motorDriver.setPwmAperiod(fPwmPeriod);
 *           motorDriver.setPwmBperiod(fPwmPeriod);
 *           motorDriver.setPwmApulsewidth(fPwmPulsewidth);
 *           motorDriver.setPwmBpulsewidth(fPwmPulsewidth);
 *   
 *           while(1)
 *           {
 *               motorDriver.motorA_ccw();
 *               wait(2);
 *               motorDriver.motorA_cw();
 *               wait(2);
 *               motorDriver.motorA_stop();
 *               wait(2);
 *               motorDriver.motorB_ccw();
 *               wait(2);
 *               motorDriver.motorB_cw();
 *               wait(2);
 *               motorDriver.motorB_stop();
 *               wait(2);
 *           }
 *       }
 */

#ifndef __TB6612FNG_H__
#define __TB6612FNG_H__

#include "mbed.h"

#define TB6612FNG_PWM_PERIOD_DEFAULT      (0.00002)   // 50KHz
#define TB6612FNG_PWM_PULSEWIDTH_DEFAULT  (0.50)      // 50% duty cycle
 
class TB6612FNG
{
public:
    TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
               PinName pinPwmB, PinName pinBin1, PinName pinBin2,
               PinName pinNStby );
    void setPwmA(float fPeriod, float fPulsewidth);
    void setPwmAperiod(float fPeriod);
    void setPwmApulsewidth(float fPulsewidth);
    void setPwmB(float fPeriod, float fPulsewidth);
    void setPwmBperiod(float fPeriod);
    void setPwmBpulsewidth(float fPulsewidth);
    void standby(void);
    void motorA_stop(void);
    void motorA_ccw(void);
    void motorA_cw(void);
    void motorB_stop(void);
    void motorB_ccw(void);
    void motorB_cw(void);
    
private:
    PwmOut pwmA;
    DigitalOut Ain1;
    DigitalOut Ain2;
    PwmOut pwmB;
    DigitalOut Bin1;
    DigitalOut Bin2;
    DigitalOut nStby;
};

#endif /* __TB6612FNG_H__ */