TB6612.cpp

00001 /**
00002  * Motor Driver TB6612 Control Library
00003  *
00004  * -- TB6612 is a device of the TOSHIBA. 
00005  *
00006  * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
00007  */
00008 
00009 
00010 #include "TB6612.h"
00011 
00012 // TB6612 Class Constructor
00013 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
00014         _pwm(pwm), _fwd(fwd), _rev(rev) {
00015 
00016     _fwd = 0;
00017     _rev = 0;
00018     _pwm = 0.0;
00019     _pwm.period(0.001);
00020     
00021     bspeed = 0.0;
00022     timer_flag = false;
00023 }
00024 
00025 // Speed Control
00026 //  arg
00027 //   float speed -1.0 - 0.0 - 1.0
00028 void TB6612::speed(float speed) {
00029     nowspeed = speed;
00030     
00031     if( timer_flag == true )    return;
00032     
00033     bspeed = speed;
00034     
00035     if( speed > 0.0 )
00036     {
00037         _pwm = speed;
00038         _fwd = 1;
00039         _rev = 0;
00040     }
00041     else if( speed < 0.0 )
00042     {
00043         _pwm = -speed;
00044         _fwd = 0;
00045         _rev = 1;
00046     }
00047     else
00048     {
00049         _fwd = 1;
00050         _rev = 1;
00051     }
00052 }
00053 
00054 
00055 // Speed Control with time-out
00056 //  arg
00057 //   float sspeed:-1.0 - 0.0 - 1.0
00058 //   float time  :0.0-
00059 void TB6612::move(float sspeed , float time)
00060 {
00061     speed(sspeed);
00062     timer_flag = true;
00063     timer.attach(this,&TB6612::timeout,time);
00064 }
00065 
00066 
00067 void TB6612::timeout()
00068 {
00069     timer_flag = false;
00070     speed(bspeed);
00071 }
00072