Diff: TB6612FNG.cpp

Revision:

0:34d1ce434420

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG.cpp	Mon May 30 14:25:18 2011 +0000
@@ -0,0 +1,42 @@
+#include "TB6612FNG.h"
+#include "mbed.h"
+
+TB6612FNG::TB6612FNG(PinName pPWM, PinName pIn1, PinName pIn2): motorPWM(pPWM), In1(pIn1), In2(pIn2) {
+    motorPWM = 0;
+    motorPWM.period(0.001);
+    In1 = 0;
+    In2 = 0;     
+}
+
+void TB6612FNG::setSpeed(float newSpeed) {
+    if(newSpeed > 0) {
+        In1 = 0;
+        In2 = 1;
+        motorPWM = newSpeed;
+    }
+    else if(newSpeed < 0) {
+        In1 = 1;
+        In2 = 0;
+        motorPWM = newSpeed * -1;
+    }
+    else {
+        In1 = 1;
+        In2 = 1;
+        motorPWM = 0;
+    }
+}
+
+float TB6612FNG::getSpeed(void) {
+    if(In2 == 0) return motorPWM * -1;
+    else return motorPWM;
+}
+
+void TB6612FNG::operator= (float param) {
+    setSpeed(param);
+}
+
+TB6612FNG::operator float() {
+    return getSpeed();
+    // be nice if this operated for print statements
+}
+