Diff: TB6612.cpp

Revision:

2:ad4e7374e5c1

Parent:

0:810f315ba3dc

Child:

4:95d5e9ee8c15

--- a/TB6612.cpp	Tue Oct 23 15:24:30 2012 +0000
+++ b/TB6612.cpp	Sun Jun 29 06:47:01 2014 +0000
@@ -1,9 +1,26 @@
-/**
- * Motor Driver TB6612 Control Library
+/* wallbot mini Library
+ *
+ * wallbotmini.cpp
+ *
+ * Copyright (c) 2010-2013 jksoft
  *
- * -- TB6612 is a device of the TOSHIBA. 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
  *
- * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
  */
 
 
@@ -18,18 +35,12 @@
     _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;
+float TB6612::speed(float speed) {
     
     if( speed > 0.0 )
     {
@@ -48,24 +59,5 @@
         _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);
-}
-
+    return speed==0 ? 0 : speed > 0 ? 1 : -1;
+}
\ No newline at end of file