Diff: Sparkfun_TB6612.cpp

Revision:

0:2d64a320d78f

Child:

1:9d2787060b3e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sparkfun_TB6612.cpp	Tue Oct 02 14:36:09 2018 +0000
@@ -0,0 +1,115 @@
+/******************************************************************************
+TB6612.cpp
+TB6612FNG H-Bridge Motor Driver Example code
+Michelle @ SparkFun Electronics
+8/20/16
+https://github.com/sparkfun/SparkFun_TB6612FNG_Arduino_Library
+
+Uses 2 motors to show examples of the functions in the library.  This causes
+a robot to do a little 'jig'.  Each movement has an equal and opposite movement
+so assuming your motors are balanced the bot should end up at the same place it
+started.
+
+Resources:
+TB6612 SparkFun Library
+
+Development environment specifics:
+Developed on Arduino 1.6.4
+Developed with ROB-9457
+******************************************************************************/
+
+#include "SparkFun_TB6612.h"
+
+Motor::Motor(PinName pwm, PinName dir1, PinName dir2, PinName standby, int offset) : _pwm(pwm), _dir1(dir1), _dir2(dir2), _standby(standby) {
+
+    _offset = offset;
+}
+  
+void Motor::drive(int speed)
+{
+    enable_motor();
+    speed = speed * _offset;
+    if (speed>=0) fwd(speed);
+    else rev(-speed);
+}
+
+void Motor::drive(int speed, int duration)
+{
+  drive(speed);
+  wait_ms(duration);
+}
+
+void Motor::fwd(int speed)
+{
+   _dir1 = 1;
+   _dir2 = 0;
+   _pwm = speed; // NOTE, speed is -255,255 Arduino analog.
+}
+
+void Motor::rev(int speed)
+{
+   _dir1 = 0;
+   _dir2 = 1;
+   _pwm = speed; // NOTE, speed is -255,255 Arduino analog.
+}
+
+void Motor::brake()
+{
+   _dir1 = 1;
+   _dir2 = 1;
+   _pwm = 0.0f; // NOTE, speed is -255,255 Arduino analog.
+}
+
+void Motor::standby()
+{
+    _standby = 0;
+}
+
+void Motor::enable_motor() {
+    _standby = 1;
+}
+
+void forward(Motor motor1, Motor motor2, int speed)
+{
+	motor1.drive(speed);
+	motor2.drive(speed);
+}
+
+void forward(Motor motor1, Motor motor2)
+{
+	motor1.drive(DEFAULTSPEED);
+	motor2.drive(DEFAULTSPEED);
+}
+
+void back(Motor motor1, Motor motor2, int speed)
+{
+	int temp = abs(speed);
+	motor1.drive(-temp);
+	motor2.drive(-temp);
+}
+void back(Motor motor1, Motor motor2)
+{
+	motor1.drive(-DEFAULTSPEED);
+	motor2.drive(-DEFAULTSPEED);
+}
+void left(Motor left, Motor right, int speed)
+{
+	int temp = abs(speed)/2;
+	left.drive(-temp);
+	right.drive(temp);
+	
+}
+
+
+void right(Motor left, Motor right, int speed)
+{
+	int temp = abs(speed)/2;
+	left.drive(temp);
+	right.drive(-temp);
+	
+}
+void brake(Motor motor1, Motor motor2)
+{
+	motor1.brake();
+	motor2.brake();
+}
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