Revision 0:e27bf165308f, committed 2011-04-27

Comitter:

jksoft

Date:

Wed Apr 27 02:51:14 2011 +0000

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6211F.cpp	Wed Apr 27 02:51:14 2011 +0000
@@ -0,0 +1,68 @@
+/**
+ * Motor Driver BD6211F Control Library
+ *
+ * -- BD6211F is a device of the rohm. 
+ *
+ * Copyright (C) 2011 Junichi Katsu (JKSOFT) 
+ */
+
+
+#include "BD6211F.h"
+
+// BD6211F Class Constructor
+BD6211F::BD6211F(PinName fwd, PinName rev):
+        _fwd(fwd), _rev(rev) {
+
+    _fwd.period(0.00005);
+    _rev.period(0.00005);
+    _fwd = 0.0;
+    _rev = 0.0;
+    bspeed = 0.0;
+    timer_flag = false;
+}
+
+// Speed Control
+//  arg
+//   float speed�F-1.0 �` 0.0 �` 1.0
+void BD6211F::speed(float speed) {
+    
+    if( timer_flag == true )    return;
+    
+    bspeed = speed;
+    
+    if( speed > 0.0 )
+    {
+        _fwd = speed;
+        _rev = 0.0;
+    }
+    else if( speed < 0.0 )
+    {
+        _fwd = 0.0;
+        _rev = -speed;
+    }
+    else
+    {
+        _fwd = 1.0;
+        _rev = 1.0;
+    }
+}
+
+
+// Speed Control with time-out
+//  arg
+//   float sspeed:-1.0 &#65533;` 0.0 &#65533;` 1.0
+//   float time  :0.0&#65533;`
+void BD6211F::move(float sspeed , float time)
+{
+    speed(sspeed);
+    timer_flag = true;
+    timer.attach(this,&BD6211F::timeout,time);
+}
+
+
+void BD6211F::timeout()
+{
+    timer_flag = false;
+    speed(bspeed);
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6211F.h	Wed Apr 27 02:51:14 2011 +0000
@@ -0,0 +1,34 @@
+/**
+ * Motor Driver BD6211F Control Library
+ *
+ * -- BD6211F is a device of the rohm. 
+ *
+ * Copyright (C) 2011 Junichi Katsu (JKSOFT) 
+ */
+
+#ifndef MBED_BD6211F_H
+#define MBED_BD6211F_H
+
+#include "mbed.h"
+
+class BD6211F {
+public:
+    BD6211F(PinName fwd, PinName rev);
+    void speed(float speed);
+    void move(float speed , float time);
+	void operator= ( float value )
+	{
+		speed(value);
+	}
+	
+protected:
+    PwmOut _fwd;
+    PwmOut _rev;
+    Timeout timer;
+    float    bspeed;
+    bool     timer_flag;
+    void timeout();
+
+};
+
+#endif