Helmut Schmücker / TB6612FNG

Simple Interface for Toshiba's TB6612FNG H-Bridge Motor Driver

TB6612FNG.cpp@0:30d6828516f5, 2013-03-04 (annotated)

Committer:
humlet
Date:
Mon Mar 04 21:58:45 2013 +0000
Revision:
0:30d6828516f5
Child:
1:3dd9137a5cec
myfirst

Who changed what in which revision?

UserRevisionLine numberNew contents of line
humlet 0:30d6828516f5 1 /**
humlet 0:30d6828516f5 2 * H-Bridge / Motor Driver TB6612FNG Control Library
humlet 0:30d6828516f5 3 */
humlet 0:30d6828516f5 4
humlet 0:30d6828516f5 5
humlet 0:30d6828516f5 6 #include "TB6612FNG.h"
humlet 0:30d6828516f5 7
humlet 0:30d6828516f5 8
humlet 0:30d6828516f5 9 TB6612FNG::TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2)
humlet 0:30d6828516f5 10 :m_pwm(pwm), m_ctrl1(ctrl1), m_ctrl2(ctrl2), m_dc(0), m_on(false)
humlet 0:30d6828516f5 11 {
humlet 0:30d6828516f5 12 m_ctrl1 = 0;
humlet 0:30d6828516f5 13 m_ctrl2 = 0;
humlet 0:30d6828516f5 14 m_pwm.period_us(1000);
humlet 0:30d6828516f5 15 m_pwm.pulsewidth_us(0);
humlet 0:30d6828516f5 16 }
humlet 0:30d6828516f5 17
humlet 0:30d6828516f5 18 void TB6612FNG::setDC(int dc)
humlet 0:30d6828516f5 19 {
humlet 0:30d6828516f5 20 m_dc=dc;
humlet 0:30d6828516f5 21 if(m_dc>1000) m_dc=1000;
humlet 0:30d6828516f5 22 else if(m_dc<-1000) m_dc=-1000;
humlet 0:30d6828516f5 23
humlet 0:30d6828516f5 24 if(m_on)on();
humlet 0:30d6828516f5 25 }
humlet 0:30d6828516f5 26
humlet 0:30d6828516f5 27 void TB6612FNG::on()
humlet 0:30d6828516f5 28 {
humlet 0:30d6828516f5 29 m_on=true;
humlet 0:30d6828516f5 30 if(m_dc>0) {
humlet 0:30d6828516f5 31 m_ctrl1=1;
humlet 0:30d6828516f5 32 m_ctrl2=0;
humlet 0:30d6828516f5 33 m_pwm.pulsewidth_us(m_dc);
humlet 0:30d6828516f5 34 } else if(m_dc<0) {
humlet 0:30d6828516f5 35 m_ctrl1=0;
humlet 0:30d6828516f5 36 m_ctrl2=1;
humlet 0:30d6828516f5 37 m_pwm.pulsewidth_us(-m_dc);
humlet 0:30d6828516f5 38 } else {
humlet 0:30d6828516f5 39 m_ctrl1=0;
humlet 0:30d6828516f5 40 m_ctrl2=0;
humlet 0:30d6828516f5 41 }
humlet 0:30d6828516f5 42
humlet 0:30d6828516f5 43 }
humlet 0:30d6828516f5 44
humlet 0:30d6828516f5 45 void TB6612FNG::off()
humlet 0:30d6828516f5 46 {
humlet 0:30d6828516f5 47 m_on=false;
humlet 0:30d6828516f5 48 m_ctrl1=0;
humlet 0:30d6828516f5 49 m_ctrl2=0;
humlet 0:30d6828516f5 50 }
humlet 0:30d6828516f5 51
humlet 0:30d6828516f5 52 void TB6612FNG::brake()
humlet 0:30d6828516f5 53 {
humlet 0:30d6828516f5 54 m_on=false;
humlet 0:30d6828516f5 55 m_ctrl1=1;
humlet 0:30d6828516f5 56 m_ctrl2=1;
humlet 0:30d6828516f5 57 }