Chris Heald / Sparkfun_TB6612

Initial draft of Arduino Sparkfun port for TB6612 Motor driver

Sparkfun_TB6612.h@1:9d2787060b3e, 2018-10-02 (annotated)

Committer:
ateyercheese
Date:
Tue Oct 02 14:48:00 2018 +0000
Revision:
1:9d2787060b3e
Parent:
0:2d64a320d78f 
file renamed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ateyercheese 0:2d64a320d78f 1 /******************************************************************************
ateyercheese 0:2d64a320d78f 2 SparkFun_TB6612.h
ateyercheese 0:2d64a320d78f 3 TB6612FNG H-Bridge Motor Driver Example code
ateyercheese 0:2d64a320d78f 4 Michelle @ SparkFun Electronics
ateyercheese 0:2d64a320d78f 5 8/20/16
ateyercheese 0:2d64a320d78f 6 https://github.com/sparkfun/SparkFun_TB6612FNG_Arduino_Library
ateyercheese 0:2d64a320d78f 7
ateyercheese 0:2d64a320d78f 8 Uses 2 motors to show examples of the functions in the library. This causes
ateyercheese 0:2d64a320d78f 9 a robot to do a little 'jig'. Each movement has an equal and opposite movement
ateyercheese 0:2d64a320d78f 10 so assuming your motors are balanced the bot should end up at the same place it
ateyercheese 0:2d64a320d78f 11 started.
ateyercheese 0:2d64a320d78f 12
ateyercheese 0:2d64a320d78f 13 Resources:
ateyercheese 0:2d64a320d78f 14 TB6612 SparkFun Library
ateyercheese 0:2d64a320d78f 15
ateyercheese 0:2d64a320d78f 16 Development environment specifics:
ateyercheese 0:2d64a320d78f 17 Developed on Arduino 1.6.4
ateyercheese 0:2d64a320d78f 18 Developed with ROB-9457
ateyercheese 0:2d64a320d78f 19 ******************************************************************************/
ateyercheese 0:2d64a320d78f 20
ateyercheese 0:2d64a320d78f 21
ateyercheese 0:2d64a320d78f 22 #ifndef SPARKFUN_TB6612_h
ateyercheese 0:2d64a320d78f 23 #define SPARKFUN_TB6612_h
ateyercheese 0:2d64a320d78f 24
ateyercheese 0:2d64a320d78f 25 #include "mbed.h"
ateyercheese 0:2d64a320d78f 26
ateyercheese 0:2d64a320d78f 27 //used in some functions so you don't have to send a speed
ateyercheese 0:2d64a320d78f 28 #define DEFAULTSPEED 255
ateyercheese 0:2d64a320d78f 29
ateyercheese 0:2d64a320d78f 30
ateyercheese 0:2d64a320d78f 31
ateyercheese 0:2d64a320d78f 32 class Motor
ateyercheese 0:2d64a320d78f 33 {
ateyercheese 0:2d64a320d78f 34 public:
ateyercheese 0:2d64a320d78f 35 // Constructor. Mainly sets up pins.
ateyercheese 0:2d64a320d78f 36 Motor(PinName pwm, PinName dir1, PinName dir2, PinName standby, int offset = 1);
ateyercheese 0:2d64a320d78f 37
ateyercheese 0:2d64a320d78f 38 // Drive in direction given by sign, at speed given by magnitude of the
ateyercheese 0:2d64a320d78f 39 //parameter.
ateyercheese 0:2d64a320d78f 40 void drive(int speed);
ateyercheese 0:2d64a320d78f 41
ateyercheese 0:2d64a320d78f 42 // drive(), but with a delay(duration)
ateyercheese 0:2d64a320d78f 43 void drive(int speed, int duration);
ateyercheese 0:2d64a320d78f 44
ateyercheese 0:2d64a320d78f 45 //currently not implemented
ateyercheese 0:2d64a320d78f 46 //void stop(); // Stop motors, but allow them to coast to a halt.
ateyercheese 0:2d64a320d78f 47 //void coast(); // Stop motors, but allow them to coast to a halt.
ateyercheese 0:2d64a320d78f 48
ateyercheese 0:2d64a320d78f 49 //Stops motor by setting both input pins high
ateyercheese 0:2d64a320d78f 50 void brake();
ateyercheese 0:2d64a320d78f 51
ateyercheese 0:2d64a320d78f 52 //set the chip to standby mode. The drive function takes it out of standby
ateyercheese 0:2d64a320d78f 53 //(forward, back, left, and right all call drive)
ateyercheese 0:2d64a320d78f 54 void standby();
ateyercheese 0:2d64a320d78f 55
ateyercheese 0:2d64a320d78f 56 // Turn off Standby
ateyercheese 0:2d64a320d78f 57 void enable_motor();
ateyercheese 0:2d64a320d78f 58
ateyercheese 0:2d64a320d78f 59 private:
ateyercheese 0:2d64a320d78f 60 //variables for the 2 inputs, PWM input, Offset value, and the Standby pin
ateyercheese 0:2d64a320d78f 61 PwmOut _pwm;
ateyercheese 0:2d64a320d78f 62 DigitalOut _dir1, _dir2, _standby;
ateyercheese 0:2d64a320d78f 63 int _offset;
ateyercheese 0:2d64a320d78f 64
ateyercheese 0:2d64a320d78f 65 //private functions that spin the motor CC and CCW
ateyercheese 0:2d64a320d78f 66 void fwd(int speed);
ateyercheese 0:2d64a320d78f 67 void rev(int speed);
ateyercheese 0:2d64a320d78f 68
ateyercheese 0:2d64a320d78f 69
ateyercheese 0:2d64a320d78f 70 };
ateyercheese 0:2d64a320d78f 71
ateyercheese 0:2d64a320d78f 72 //Takes 2 motors and goes forward, if it does not go forward adjust offset
ateyercheese 0:2d64a320d78f 73 //values until it does. These will also take a negative number and go backwards
ateyercheese 0:2d64a320d78f 74 //There is also an optional speed input, if speed is not used, the function will
ateyercheese 0:2d64a320d78f 75 //use the DEFAULTSPEED constant.
ateyercheese 0:2d64a320d78f 76 void forward(Motor motor1, Motor motor2, int speed);
ateyercheese 0:2d64a320d78f 77 void forward(Motor motor1, Motor motor2);
ateyercheese 0:2d64a320d78f 78
ateyercheese 0:2d64a320d78f 79 //Similar to forward, will take 2 motors and go backwards. This will take either
ateyercheese 0:2d64a320d78f 80 //a positive or negative number and will go backwards either way. Once again the
ateyercheese 0:2d64a320d78f 81 //speed input is optional and will use DEFAULTSPEED if it is not defined.
ateyercheese 0:2d64a320d78f 82 void back(Motor motor1, Motor motor2, int speed);
ateyercheese 0:2d64a320d78f 83 void back(Motor motor1, Motor motor2);
ateyercheese 0:2d64a320d78f 84
ateyercheese 0:2d64a320d78f 85 //Left and right take 2 motors, and it is important the order they are sent.
ateyercheese 0:2d64a320d78f 86 //The left motor should be on the left side of the bot. These functions
ateyercheese 0:2d64a320d78f 87 //also take a speed value
ateyercheese 0:2d64a320d78f 88 void left(Motor left, Motor right, int speed);
ateyercheese 0:2d64a320d78f 89 void right(Motor left, Motor right, int speed);
ateyercheese 0:2d64a320d78f 90
ateyercheese 0:2d64a320d78f 91 //This function takes 2 motors and and brakes them
ateyercheese 0:2d64a320d78f 92 void brake(Motor motor1, Motor motor2);
ateyercheese 0:2d64a320d78f 93
ateyercheese 0:2d64a320d78f 94
ateyercheese 0:2d64a320d78f 95
ateyercheese 0:2d64a320d78f 96
ateyercheese 0:2d64a320d78f 97
ateyercheese 0:2d64a320d78f 98
ateyercheese 0:2d64a320d78f 99
ateyercheese 0:2d64a320d78f 100
ateyercheese 0:2d64a320d78f 101
ateyercheese 0:2d64a320d78f 102
ateyercheese 0:2d64a320d78f 103 #endif