Moto Sbk / wallbotble

wallbot control Library

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Show/hide line numbers TB6612.h Source File

TB6612.h

00001 /**
00002  * Motor Driver TB6612 Control Library
00003  *
00004  * -- TB6612 is a device of the rohm. 
00005  *
00006  * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
00007  */
00008 
00009 #ifndef MBED_TB6612_H
00010 #define MBED_TB6612_H
00011 
00012 #include "mbed.h"
00013 
00014 class TB6612 {
00015 public:
00016     TB6612(PinName pwm, PinName fwd, PinName rev);
00017     void speed(float speed);
00018     void move(float speed , float time);
00019     void operator= ( float value )
00020     {
00021         speed(value);
00022     }
00023     float nowspeed;
00024     
00025 protected:
00026     PwmOut _pwm;
00027     DigitalOut _fwd;
00028     DigitalOut _rev;
00029     Timeout timer;
00030     float    bspeed;
00031     bool     timer_flag;
00032     void timeout();
00033 
00034 };
00035 
00036 #endif
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