Junichi Katsu / TB6612FNG

TB6612FNG用のモータコントロールライブラリ

Dependents:   BLE_WALLBOT_BLE net_trap_noBLE MoveTest Avoid ... more

Diff: TB6612.cpp

Revision:
4:95d5e9ee8c15
Parent:
2:ad4e7374e5c1
--- a/TB6612.cpp	Mon Jul 07 14:44:34 2014 +0000
+++ b/TB6612.cpp	Fri Aug 29 04:40:40 2014 +0000
@@ -33,6 +33,7 @@
     _fwd = 0;
     _rev = 0;
     _pwm = 0.0;
+    stat = 0;
     _pwm.period(0.001);
     
 }
@@ -47,17 +48,20 @@
         _pwm = speed;
         _fwd = 1;
         _rev = 0;
+        stat = 1;
     }
     else if( speed < 0.0 )
     {
         _pwm = -speed;
         _fwd = 0;
         _rev = 1;
+        stat = -1;
     }
     else
     {
         _fwd = 1;
         _rev = 1;
+        stat = 0;
     }
     return speed==0 ? 0 : speed > 0 ? 1 : -1;
 }
\ No newline at end of file