BD6211F.cpp

00001 /**
00002  * Motor Driver BD6211F Control Library
00003  *
00004  * -- BD6211F is a device of the rohm. 
00005  *
00006  * Copyright (C) 2011 Junichi Katsu (JKSOFT) 
00007  */
00008 
00009 
00010 #include "BD6211F.h"
00011 
00012 // BD6211F Class Constructor
00013 BD6211F::BD6211F(PinName fwd, PinName rev):
00014         _fwd(fwd), _rev(rev) {
00015 
00016     _fwd.period(0.00005);
00017     _rev.period(0.00005);
00018     _fwd = 0.0;
00019     _rev = 0.0;
00020     bspeed = 0.0;
00021     timer_flag = false;
00022 }
00023 
00024 // Speed Control
00025 //  arg
00026 //   float speed�F-1.0 �` 0.0 �` 1.0
00027 void BD6211F::speed(float speed) {
00028     
00029     if( timer_flag == true )    return;
00030     
00031     bspeed = speed;
00032     
00033     if( speed > 0.0 )
00034     {
00035         _fwd = speed;
00036         _rev = 0.0;
00037     }
00038     else if( speed < 0.0 )
00039     {
00040         _fwd = 0.0;
00041         _rev = -speed;
00042     }
00043     else
00044     {
00045         _fwd = 1.0;
00046         _rev = 1.0;
00047     }
00048 }
00049 
00050 
00051 // Speed Control with time-out
00052 //  arg
00053 //   float sspeed:-1.0 &#65533;` 0.0 &#65533;` 1.0
00054 //   float time  :0.0&#65533;`
00055 void BD6211F::move(float sspeed , float time)
00056 {
00057     speed(sspeed);
00058     timer_flag = true;
00059     timer.attach(this,&BD6211F::timeout,time);
00060 }
00061 
00062 
00063 void BD6211F::timeout()
00064 {
00065     timer_flag = false;
00066     speed(bspeed);
00067 }
00068