Revision 3:7d60ce61990e, committed 2015-12-09

Comitter:

gorian

Date:

Wed Dec 09 16:50:09 2015 +0000

Parent:

2:4231e0b6e68d

Commit message:

Working H-bridge with my own PWM (not from mbed)

Changed in this revision

--- a/TB6612FNG.cpp	Tue Dec 08 07:32:17 2015 +0000
+++ b/TB6612FNG.cpp	Wed Dec 09 16:50:09 2015 +0000
@@ -24,45 +24,50 @@
     Ain2 = SIGNAL_LOW;
     Bin1 = SIGNAL_LOW;
     Bin2 = SIGNAL_LOW;
-    pwmA = SIGNAL_HIGH;
-    pwmB = SIGNAL_HIGH;
+    pwmA = SIGNAL_LOW;
+    pwmB = SIGNAL_LOW;
     //pwmA.period(TB6612FNG_PWM_PERIOD_DEFAULT);
     //pwmA = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
     //pwmB.period(TB6612FNG_PWM_PERIOD_DEFAULT);
     //pwmB = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
     nStby = SIGNAL_LOW;
-}
-
-void TB6612FNG::setPwmA(float fPeriod, float fPulsewidth)
-{
-//    pwmA.period(fPeriod);
-    pwmA = fPulsewidth;
-}
-
-void TB6612FNG::setPwmAperiod(float fPeriod)
-{
-  //  pwmA.period(fPeriod);
+    
+    on_delayA = 0;
+    off_delayA = 0;
+    on_delayB = 0;
+    off_delayB = 0;
 }
 
-void TB6612FNG::setPwmApulsewidth(float fPulsewidth)
-{
-    pwmA = fPulsewidth;
+void TB6612FNG::setPwmA(int p_us, float dc)
+{    
+    timerA.detach();
+    if ((p_us == 0) || (dc == 0)) {
+        pwmA = 0;
+        return;
+    }
+    if (dc >= 1) {
+        pwmA = 1;
+        return;
+    }
+    on_delayA = (int)(p_us * dc);
+    off_delayA = p_us - on_delayA;
+    toggleA_On();
 }
 
-void TB6612FNG::setPwmB(float fPeriod, float fPulsewidth)
+void TB6612FNG::setPwmB(int p_us, float dc)
 {
-  //  pwmB.period(fPeriod);
-    pwmB = fPulsewidth;
-}
-
-void TB6612FNG::setPwmBperiod(float fPeriod)
-{
-  //  pwmB.period(fPeriod);
-}
-
-void TB6612FNG::setPwmBpulsewidth(float fPulsewidth)
-{
-    pwmB = fPulsewidth;
+    timerB.detach();
+    if ((p_us == 0) || (dc == 0)) {
+        pwmB = 0;
+        return;
+    }
+    if (dc >= 1) {
+        pwmB = 1;
+        return;
+    }
+    on_delayB = (int)(p_us * dc);
+    off_delayB = p_us - on_delayB;
+    toggleB_On();
 }
 
 void TB6612FNG::standby(void)
@@ -110,4 +115,23 @@
     nStby = SIGNAL_HIGH;
 }
 
+void TB6612FNG::toggleA_On(void) {
+    pwmA = 1;
+    timerA.attach_us(this, &TB6612FNG::toggleA_Off, on_delayA);
+}
 
+void TB6612FNG::toggleA_Off(void) {
+    pwmA = 0;
+    timerA.attach_us(this, &TB6612FNG::toggleA_On, off_delayA);
+}
+
+void TB6612FNG::toggleB_On(void) {
+    pwmB = 1;
+    timerB.attach_us(this, &TB6612FNG::toggleB_Off, on_delayB);
+}
+
+void TB6612FNG::toggleB_Off(void) {
+    pwmB = 0;
+    timerB.attach_us(this, &TB6612FNG::toggleB_On, off_delayB);
+}
+

--- a/TB6612FNG.h	Tue Dec 08 07:32:17 2015 +0000
+++ b/TB6612FNG.h	Wed Dec 09 16:50:09 2015 +0000
@@ -58,7 +58,7 @@
 
 #include "mbed.h"
 
-#define TB6612FNG_PWM_PERIOD_DEFAULT      (0.00002)   // 50KHz
+#define TB6612FNG_PWM_PERIOD_DEFAULT      (20000)   // 50KHz
 #define TB6612FNG_PWM_PULSEWIDTH_DEFAULT  (0.50)      // 50% duty cycle
  
 class TB6612FNG
@@ -67,12 +67,9 @@
     TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
                PinName pinPwmB, PinName pinBin1, PinName pinBin2,
                PinName pinNStby );
-    void setPwmA(float fPeriod, float fPulsewidth);
-    void setPwmAperiod(float fPeriod);
-    void setPwmApulsewidth(float fPulsewidth);
-    void setPwmB(float fPeriod, float fPulsewidth);
-    void setPwmBperiod(float fPeriod);
-    void setPwmBpulsewidth(float fPulsewidth);
+    
+    void setPwmA(int p_us, float dc);
+    void setPwmB(int p_us, float dc);
     void standby(void);
     void motorA_stop(void);
     void motorA_ccw(void);
@@ -80,6 +77,10 @@
     void motorB_stop(void);
     void motorB_ccw(void);
     void motorB_cw(void);
+    void toggleA_Off(void);
+    void toggleA_On(void);
+    void toggleB_Off(void);
+    void toggleB_On(void);
     
 private:
     DigitalOut pwmA;
@@ -89,6 +90,16 @@
     DigitalOut Bin1;
     DigitalOut Bin2;
     DigitalOut nStby;
+    
+    int on_delayA;
+    int off_delayA;
+    int on_delayB;
+    int off_delayB;
+    
+    Timeout timerA;
+    Timeout timerB;
+    
+    
 };
 
 #endif /* __TB6612FNG_H__ */
\ No newline at end of file