Diff: TB6612FNG.cpp

Revision:

1:3dd9137a5cec

Parent:

0:30d6828516f5

Child:

2:73d5d7514e4c

--- a/TB6612FNG.cpp	Mon Mar 04 21:58:45 2013 +0000
+++ b/TB6612FNG.cpp	Wed Mar 06 19:59:50 2013 +0000
@@ -6,20 +6,26 @@
 #include "TB6612FNG.h"
 
 
-TB6612FNG::TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2)
-    :m_pwm(pwm), m_ctrl1(ctrl1), m_ctrl2(ctrl2), m_dc(0), m_on(false)
+TB6612FNG::TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2, int period, bool brakeOnZeroDC)
+    :m_pwm(pwm),
+     m_ctrl1(ctrl1),
+     m_ctrl2(ctrl2),
+     m_pw(0),
+     m_on(false),
+     m_brakeOnZeroDC(brakeOnZeroDC),
+     m_period(period)
 {
     m_ctrl1 = 0;
     m_ctrl2 = 0;
-    m_pwm.period_us(1000);
+    m_pwm.period_us(period);
     m_pwm.pulsewidth_us(0);
 }
 
-void TB6612FNG::setDC(int dc)
+void TB6612FNG::setPulseWidth(int pw)
 {
-    m_dc=dc;
-    if(m_dc>1000) m_dc=1000;
-    else if(m_dc<-1000) m_dc=-1000;
+    m_pw=pw;
+    if(m_pw>m_period) m_pw=m_period;
+    else if(m_pw<-m_period) m_pw=-m_period;
 
     if(m_on)on();
 }
@@ -27,19 +33,21 @@
 void TB6612FNG::on()
 {
     m_on=true;
-    if(m_dc>0) {
+    if(m_pw>0) {
         m_ctrl1=1;
         m_ctrl2=0;
-        m_pwm.pulsewidth_us(m_dc);
-    } else if(m_dc<0) {
+        m_pwm.pulsewidth_us(m_pw);
+    } else if(m_pw<0) {
         m_ctrl1=0;
         m_ctrl2=1;
-        m_pwm.pulsewidth_us(-m_dc);
+        m_pwm.pulsewidth_us(-m_pw);
+    } else if (m_brakeOnZeroDC) {
+        m_pwm.pulsewidth_us(0);
     } else {
         m_ctrl1=0;
         m_ctrl2=0;
     }
-    
+
 }
 
 void TB6612FNG::off()