TB6612FNG.h

00001 #ifndef TB6612FNG_H
00002 #define TB6612FNG_H
00003 
00004 #include "mbed.h"
00005 
00006 /// Simple Interface for Toshiba's TB6612FNG H-Bridge Motor Driver
00007 class TB6612FNG
00008 {
00009     PwmOut m_pwm;  
00010     DigitalOut m_ctrl1;
00011     DigitalOut m_ctrl2;
00012     int m_pw;  // PWM pulse width setting
00013     bool m_on; // motor satus
00014     bool m_brakeOnZeroDC; // behaviour for zero duty cycle
00015     int m_period;  // PWM period setting
00016 
00017 public:
00018     /** Create TB6612FNG object connected to the specified mbed pins
00019     * @param pwm PwmOut pin name
00020     * @param ctrl1/ctrl2 DigitalOut control pin name
00021     * @param pwmPeriod sets the PWM period (µs)
00022     * @param brakeOnZeroDC true: The motor brakes on zero pulse width setting. 
00023     *                      false: The motor output is set to high impedance
00024     */
00025     TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2, int pwmPeriod=100, bool brakeOnZeroDC=true);
00026     
00027     /// Sets the PWM pulse width
00028     /// @param pw is the PWM pulse width setting in µs.
00029     /// The sign of the given pulsewidth defines the direction.
00030     /// With the default PWM period of 100µs (f=10kHz) this value is equivalent to the duty cycle.
00031     void setPulseWidth(int pw);
00032     
00033     /// activates the motor at the duty cycle selected with setPulseWidth()
00034     void on();
00035     
00036     /// deactivates the motor (sets the motor output to high impedance, no short brake)
00037     void off();
00038     
00039     /// brakes the motor by shorting it 
00040     void brake();
00041     
00042     /// set behaviour for zero DC setting
00043     /// @param brakeOnZeroDC true: The motor brakes on zero pulse width setting. 
00044     ///                      false: The motor output is set to high impedance
00045     void setZeroDCReaction(bool brakeOnZeroDC);
00046     
00047     /// pulse width assignment
00048     /// @param pw is the PWM pulse width setting in µs 
00049     /// @see setPulseWidth(int pw)
00050     void operator=(int pw) {
00051         setPulseWidth(pw);
00052     }
00053 };
00054 
00055 #endif