Diff: TB6612.cpp

Revision:

0:810f315ba3dc

Child:

1:051a7ecff13e

Child:

2:ad4e7374e5c1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612.cpp	Tue Oct 23 15:24:30 2012 +0000
@@ -0,0 +1,71 @@
+/**
+ * Motor Driver TB6612 Control Library
+ *
+ * -- TB6612 is a device of the TOSHIBA. 
+ *
+ * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
+ */
+
+
+#include "TB6612.h"
+
+// TB6612 Class Constructor
+TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
+        _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+    _fwd = 0;
+    _rev = 0;
+    _pwm = 0.0;
+    _pwm.period(0.001);
+    
+    bspeed = 0.0;
+    timer_flag = false;
+}
+
+// Speed Control
+//  arg
+//   float speed -1.0 - 0.0 - 1.0
+void TB6612::speed(float speed) {
+    
+    if( timer_flag == true )    return;
+    
+    bspeed = speed;
+    
+    if( speed > 0.0 )
+    {
+        _pwm = speed;
+        _fwd = 1;
+        _rev = 0;
+    }
+    else if( speed < 0.0 )
+    {
+        _pwm = -speed;
+        _fwd = 0;
+        _rev = 1;
+    }
+    else
+    {
+        _fwd = 1;
+        _rev = 1;
+    }
+}
+
+
+// Speed Control with time-out
+//  arg
+//   float sspeed:-1.0 - 0.0 - 1.0
+//   float time  :0.0-
+void TB6612::move(float sspeed , float time)
+{
+    speed(sspeed);
+    timer_flag = true;
+    timer.attach(this,&TB6612::timeout,time);
+}
+
+
+void TB6612::timeout()
+{
+    timer_flag = false;
+    speed(bspeed);
+}
+