First import from throwbot
Fork of TB6612FNG2 by
TB6612.cpp
- Committer:
- Throwbot
- Date:
- 2014-10-05
- Revision:
- 4:53e02c276f23
- Parent:
- 3:cb336a5cf19e
File content as of revision 4:53e02c276f23:
/** * Motor Driver TB6612 Control Library * * -- TB6612 is a device of the TOSHIBA. * * Copyright (C) 2012 Junichi Katsu (JKSOFT) */ #include "TB6612.h" // TB6612 Class Constructor TB6612::TB6612(PinName pwm, PinName fwd, PinName rev): scale(1), _pwm(pwm), _fwd(fwd), _rev(rev) { _fwd = 0; _rev = 0; _pwm = 0.0; _pwm.period(0.001); } // Speed Control // arg // int speed -100 -- 0 -- 100 void TB6612::speed(int speed_) { _speed = speed_; float speed = scale*(float)speed_; if( speed > 0 ) { _pwm = ((float)speed)/ 100.0; _fwd = 1; _rev = 0; } else if( speed < 0 ) { _pwm = -((float)speed)/ 100.0; _fwd = 0; _rev = 1; } else { _fwd = 1; _rev = 1; } } int TB6612::getSpeed(){ return _speed; }