悠登 山本 / Mbed 2 deprecated CanSatB2019_main_Class導入前

Class導入前です　まだできてません

Dependencies:   mbed CameraUS015sb612-3

TB6612.cpp@4:1354e56c7dd3, 2019-11-20 (annotated)

Committer:
YUPPY
Date:
Wed Nov 20 08:06:46 2019 +0000
Revision:
4:1354e56c7dd3
class_before_loading;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YUPPY 4:1354e56c7dd3 1 /**
YUPPY 4:1354e56c7dd3 2 * Motor Driver TB6612 Control Library
YUPPY 4:1354e56c7dd3 3 *
YUPPY 4:1354e56c7dd3 4 * -- TB6612 is a device of the TOSHIBA.
YUPPY 4:1354e56c7dd3 5 *
YUPPY 4:1354e56c7dd3 6 * Copyright (C) 2012 Junichi Katsu (JKSOFT)
YUPPY 4:1354e56c7dd3 7 */
YUPPY 4:1354e56c7dd3 8
YUPPY 4:1354e56c7dd3 9
YUPPY 4:1354e56c7dd3 10 #include "TB6612.h"
YUPPY 4:1354e56c7dd3 11
YUPPY 4:1354e56c7dd3 12 // TB6612 Class Constructor
YUPPY 4:1354e56c7dd3 13 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
YUPPY 4:1354e56c7dd3 14 _pwm(pwm), _fwd(fwd), _rev(rev) {
YUPPY 4:1354e56c7dd3 15
YUPPY 4:1354e56c7dd3 16 _fwd = 0;
YUPPY 4:1354e56c7dd3 17 _rev = 0;
YUPPY 4:1354e56c7dd3 18 _pwm = 0.0;
YUPPY 4:1354e56c7dd3 19 _pwm.period(0.001);
YUPPY 4:1354e56c7dd3 20 }
YUPPY 4:1354e56c7dd3 21
YUPPY 4:1354e56c7dd3 22 // Speed Control
YUPPY 4:1354e56c7dd3 23 // arg
YUPPY 4:1354e56c7dd3 24 // int speed -100 -- 0 -- 100
YUPPY 4:1354e56c7dd3 25 void TB6612::speed(int speed) {
YUPPY 4:1354e56c7dd3 26
YUPPY 4:1354e56c7dd3 27 if( speed > 0 )
YUPPY 4:1354e56c7dd3 28 {
YUPPY 4:1354e56c7dd3 29 _pwm = ((float)speed) / 100.0;
YUPPY 4:1354e56c7dd3 30 _fwd = 1;
YUPPY 4:1354e56c7dd3 31 _rev = 0;
YUPPY 4:1354e56c7dd3 32 }
YUPPY 4:1354e56c7dd3 33 else if( speed < 0 )
YUPPY 4:1354e56c7dd3 34 {
YUPPY 4:1354e56c7dd3 35 _pwm = -((float)speed) / 100.0;
YUPPY 4:1354e56c7dd3 36 _fwd = 0;
YUPPY 4:1354e56c7dd3 37 _rev = 1;
YUPPY 4:1354e56c7dd3 38 }
YUPPY 4:1354e56c7dd3 39 else
YUPPY 4:1354e56c7dd3 40 {
YUPPY 4:1354e56c7dd3 41 _fwd = 1;
YUPPY 4:1354e56c7dd3 42 _rev = 1;
YUPPY 4:1354e56c7dd3 43 }
YUPPY 4:1354e56c7dd3 44 }
YUPPY 4:1354e56c7dd3 45
YUPPY 4:1354e56c7dd3 46
YUPPY 4:1354e56c7dd3 47 // Speed Control with time-out
YUPPY 4:1354e56c7dd3 48 // arg
YUPPY 4:1354e56c7dd3 49 // int speed -100 -- 0 -- 100
YUPPY 4:1354e56c7dd3 50 // int time 0
YUPPY 4:1354e56c7dd3 51 void TB6612::move(int sspeed , int time)
YUPPY 4:1354e56c7dd3 52 {
YUPPY 4:1354e56c7dd3 53 speed(sspeed);
YUPPY 4:1354e56c7dd3 54 wait_ms(time);
YUPPY 4:1354e56c7dd3 55 }
YUPPY 4:1354e56c7dd3 56
YUPPY 4:1354e56c7dd3 57