First import from throwbot
Fork of TB6612FNG2 by
Diff: TB6612.cpp
- Revision:
- 2:73cbc6028f7a
- Parent:
- 1:051a7ecff13e
- Child:
- 3:cb336a5cf19e
diff -r 051a7ecff13e -r 73cbc6028f7a TB6612.cpp --- a/TB6612.cpp Mon Nov 12 16:39:11 2012 +0000 +++ b/TB6612.cpp Thu May 08 19:11:04 2014 +0000 @@ -11,7 +11,7 @@ // TB6612 Class Constructor TB6612::TB6612(PinName pwm, PinName fwd, PinName rev): - _pwm(pwm), _fwd(fwd), _rev(rev) { + scale(1), _pwm(pwm), _fwd(fwd), _rev(rev) { _fwd = 0; _rev = 0; @@ -23,16 +23,18 @@ // arg // int speed -100 -- 0 -- 100 void TB6612::speed(int speed) { - + + speed *= scale; + if( speed > 0 ) { - _pwm = ((float)speed) / 100.0; + _pwm = ((float)speed)/ 100.0; _fwd = 1; _rev = 0; } else if( speed < 0 ) { - _pwm = -((float)speed) / 100.0; + _pwm = -((float)speed)/ 100.0; _fwd = 0; _rev = 1; } @@ -42,14 +44,3 @@ _rev = 1; } } - - -// Speed Control with time-out -// arg -// int speed -100 -- 0 -- 100 -// int time 0 -void TB6612::move(int sspeed , int time) -{ - speed(sspeed); - wait_ms(time); -}