TB6612.h

00001 /* mbed TB6612FNG Library
00002  *
00003  * TB6612.h
00004  *
00005  * Copyright (c) 2010-2013 jksoft
00006  *
00007  * Permission is hereby granted, free of charge, to any person obtaining a copy
00008  * of this software and associated documentation files (the "Software"), to deal
00009  * in the Software without restriction, including without limitation the rights
00010  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00011  * copies of the Software, and to permit persons to whom the Software is
00012  * furnished to do so, subject to the following conditions:
00013  *
00014  * The above copyright notice and this permission notice shall be included in
00015  * all copies or substantial portions of the Software.
00016  *
00017  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00018  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00019  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00020  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00021  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00022  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00023  * THE SOFTWARE.
00024  */
00025 
00026 #ifndef MBED_TB6612_H
00027 #define MBED_TB6612_H
00028 
00029 #include "mbed.h"
00030 
00031 /** TB6612FNG  Library
00032  *
00033  * Example:
00034  * @code
00035  * // Drive the Motor
00036 
00037 #include "mbed.h"
00038 #include "TB6612.h"
00039 
00040 TB6612 motor(p21,p5,p6);    // PWMA,AIN1,AIN2
00041  
00042 int main() {
00043 
00044     motor = 0.0;        // Motor stopped.
00045 
00046     while(1)
00047     {
00048         motor = 0.5;    // Motor forward.
00049         wait(2.0);
00050         motor = -0.5;   // Motor reversal.
00051         wait(2.0);
00052     }
00053  }
00054 
00055  * @endcode
00056  */
00057 
00058 class TB6612 {
00059     // Public functions
00060 public:
00061     /** Create a TB6612 connected to the specified pins.
00062      * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed.（PwmOutに対応したポートを指定します。）
00063      * @param fwd A DigitalOut, set high when the motor should go forward.（DigitalOutに対応したポートを指定します。）
00064      * @param rev A DigitalOut, set high when the motor should go backwards.（DigitalOutに対応したポートを指定します。）
00065      */
00066     TB6612(PinName pwm, PinName fwd, PinName rev);
00067     /** Directly control the speed and direction of the motor
00068      *
00069      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00070      * @return return the stopped state or direction of rotation.
00071      */
00072     float speed(float speed);
00073     /** A operator shorthand for speed()
00074      *
00075      */ 
00076     void operator= ( float value )
00077     {
00078         speed(value);
00079     }
00080     operator int()
00081     {
00082         return(stat);
00083     }
00084     
00085 protected:
00086     PwmOut _pwm;
00087     DigitalOut _fwd;
00088     DigitalOut _rev;
00089     int stat;
00090 };
00091 
00092 #endif