Diff: TB6612FNG.h

Revision:

5:535c74e61e36

Parent:

4:5aec3b59fc10

--- a/TB6612FNG.h	Thu Mar 14 18:41:55 2013 +0000
+++ b/TB6612FNG.h	Thu Mar 21 17:06:45 2013 +0000
@@ -6,13 +6,13 @@
 /// Simple Interface for Toshiba's TB6612FNG H-Bridge Motor Driver
 class TB6612FNG
 {
-    PwmOut m_pwm;
+    PwmOut m_pwm;  
     DigitalOut m_ctrl1;
     DigitalOut m_ctrl2;
-    int m_pw;
-    bool m_on;
-    bool m_brakeOnZeroDC;
-    int m_period;
+    int m_pw;  // PWM pulse width setting
+    bool m_on; // motor satus
+    bool m_brakeOnZeroDC; // behaviour for zero duty cycle
+    int m_period;  // PWM period setting
 
 public:
     /** Create TB6612FNG object connected to the specified mbed pins
@@ -25,7 +25,9 @@
     TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2, int pwmPeriod=100, bool brakeOnZeroDC=true);
     
     /// Sets the PWM pulse width
-    /// @param pw is the PWM pulse width setting in µs. With the default PWM period of 100µs (f=10kHz) this value is equivalent to the duty cycle.
+    /// @param pw is the PWM pulse width setting in µs.
+    /// The sign of the given pulsewidth defines the direction.
+    /// With the default PWM period of 100µs (f=10kHz) this value is equivalent to the duty cycle.
     void setPulseWidth(int pw);
     
     /// activates the motor at the duty cycle selected with setPulseWidth()
@@ -37,8 +39,14 @@
     /// brakes the motor by shorting it 
     void brake();
     
+    /// set behaviour for zero DC setting
+    /// @param brakeOnZeroDC true: The motor brakes on zero pulse width setting. 
+    ///                      false: The motor output is set to high impedance
+    void setZeroDCReaction(bool brakeOnZeroDC);
+    
     /// pulse width assignment
-    /// @param pw is the PWM pulse width setting in µs
+    /// @param pw is the PWM pulse width setting in µs 
+    /// @see setPulseWidth(int pw)
     void operator=(int pw) {
         setPulseWidth(pw);
     }