TB6612FNG.cpp

00001 #include "TB6612FNG.h"
00002 
00003 TB6612FNG::TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2, int period, bool brakeOnZeroDC)
00004     :m_pwm(pwm),
00005      m_ctrl1(ctrl1),
00006      m_ctrl2(ctrl2),
00007      m_pw(0),
00008      m_on(false),
00009      m_brakeOnZeroDC(brakeOnZeroDC),
00010      m_period(period)
00011 {
00012     m_ctrl1 = 0;
00013     m_ctrl2 = 0;
00014     m_pwm.period_us(period);
00015     m_pwm.pulsewidth_us(0);
00016 }
00017 
00018 void TB6612FNG::setPulseWidth(int pw)
00019 {
00020     m_pw=pw;
00021     if(m_pw>m_period) m_pw=m_period;
00022     else if(m_pw<-m_period) m_pw=-m_period;
00023 
00024     if(m_on)on();
00025 }
00026 
00027 void TB6612FNG::on()
00028 {
00029     m_on=true;
00030     if(m_pw>0) {
00031         m_ctrl1=1;
00032         m_ctrl2=0;
00033         m_pwm.pulsewidth_us(m_pw);
00034     } else if(m_pw<0) {
00035         m_ctrl1=0;
00036         m_ctrl2=1;
00037         m_pwm.pulsewidth_us(-m_pw);
00038     } else if (m_brakeOnZeroDC) {
00039         m_pwm.pulsewidth_us(0);
00040     } else {
00041         m_ctrl1=0;
00042         m_ctrl2=0;
00043     }
00044 
00045 }
00046 
00047 void TB6612FNG::off()
00048 {
00049     m_on=false;
00050     m_ctrl1=0;
00051     m_ctrl2=0;
00052 }
00053 
00054 void TB6612FNG::brake()
00055 {
00056     m_on=false;
00057     m_ctrl1=1;
00058     m_ctrl2=1;
00059 }
00060 
00061 void TB6612FNG::setZeroDCReaction(bool brakeOnZeroDC)
00062 {
00063     m_brakeOnZeroDC=brakeOnZeroDC;
00064     on();
00065 }