Helmut Schmücker / TB6612FNG

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

TB6612FNG.h@5:535c74e61e36, 2013-03-21 (annotated)

Committer:
humlet
Date:
Thu Mar 21 17:06:45 2013 +0000
Revision:
5:535c74e61e36
Parent:
4:5aec3b59fc10 
final !?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
humlet 0:30d6828516f5 1 #ifndef TB6612FNG_H
humlet 0:30d6828516f5 2 #define TB6612FNG_H
humlet 0:30d6828516f5 3
humlet 0:30d6828516f5 4 #include "mbed.h"
humlet 0:30d6828516f5 5
humlet 2:73d5d7514e4c 6 /// Simple Interface for Toshiba's TB6612FNG H-Bridge Motor Driver
humlet 0:30d6828516f5 7 class TB6612FNG
humlet 0:30d6828516f5 8 {
humlet 5:535c74e61e36 9 PwmOut m_pwm;
humlet 0:30d6828516f5 10 DigitalOut m_ctrl1;
humlet 0:30d6828516f5 11 DigitalOut m_ctrl2;
humlet 5:535c74e61e36 12 int m_pw; // PWM pulse width setting
humlet 5:535c74e61e36 13 bool m_on; // motor satus
humlet 5:535c74e61e36 14 bool m_brakeOnZeroDC; // behaviour for zero duty cycle
humlet 5:535c74e61e36 15 int m_period; // PWM period setting
humlet 0:30d6828516f5 16
humlet 0:30d6828516f5 17 public:
humlet 0:30d6828516f5 18 /** Create TB6612FNG object connected to the specified mbed pins
humlet 2:73d5d7514e4c 19 * @param pwm PwmOut pin name
humlet 2:73d5d7514e4c 20 * @param ctrl1/ctrl2 DigitalOut control pin name
humlet 2:73d5d7514e4c 21 * @param pwmPeriod sets the PWM period (µs)
humlet 2:73d5d7514e4c 22 * @param brakeOnZeroDC true: The motor brakes on zero pulse width setting.
humlet 2:73d5d7514e4c 23 * false: The motor output is set to high impedance
humlet 0:30d6828516f5 24 */
humlet 3:1ae4f0bb91c6 25 TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2, int pwmPeriod=100, bool brakeOnZeroDC=true);
humlet 4:5aec3b59fc10 26
humlet 4:5aec3b59fc10 27 /// Sets the PWM pulse width
humlet 5:535c74e61e36 28 /// @param pw is the PWM pulse width setting in µs.
humlet 5:535c74e61e36 29 /// The sign of the given pulsewidth defines the direction.
humlet 5:535c74e61e36 30 /// With the default PWM period of 100µs (f=10kHz) this value is equivalent to the duty cycle.
humlet 1:3dd9137a5cec 31 void setPulseWidth(int pw);
humlet 4:5aec3b59fc10 32
humlet 4:5aec3b59fc10 33 /// activates the motor at the duty cycle selected with setPulseWidth()
humlet 0:30d6828516f5 34 void on();
humlet 4:5aec3b59fc10 35
humlet 1:3dd9137a5cec 36 /// deactivates the motor (sets the motor output to high impedance, no short brake)
humlet 0:30d6828516f5 37 void off();
humlet 4:5aec3b59fc10 38
humlet 1:3dd9137a5cec 39 /// brakes the motor by shorting it
humlet 0:30d6828516f5 40 void brake();
humlet 4:5aec3b59fc10 41
humlet 5:535c74e61e36 42 /// set behaviour for zero DC setting
humlet 5:535c74e61e36 43 /// @param brakeOnZeroDC true: The motor brakes on zero pulse width setting.
humlet 5:535c74e61e36 44 /// false: The motor output is set to high impedance
humlet 5:535c74e61e36 45 void setZeroDCReaction(bool brakeOnZeroDC);
humlet 5:535c74e61e36 46
humlet 4:5aec3b59fc10 47 /// pulse width assignment
humlet 5:535c74e61e36 48 /// @param pw is the PWM pulse width setting in µs
humlet 5:535c74e61e36 49 /// @see setPulseWidth(int pw)
humlet 1:3dd9137a5cec 50 void operator=(int pw) {
humlet 1:3dd9137a5cec 51 setPulseWidth(pw);
humlet 0:30d6828516f5 52 }
humlet 0:30d6828516f5 53 };
humlet 0:30d6828516f5 54
humlet 0:30d6828516f5 55 #endif