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

Files at this revision

API Documentation at this revision

Revision 4:95d5e9ee8c15, committed 2014-08-29

Comitter:
jksoft
Date:
Fri Aug 29 04:40:40 2014 +0000
Parent:
3:34ddc9038d9d
Commit message:
test

Changed in this revision

TB6612.cpp Show annotated file Show diff for this revision Revisions of this file
TB6612.h Show annotated file Show diff for this revision Revisions of this file 
--- 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

--- a/TB6612.h	Mon Jul 07 14:44:34 2014 +0000
+++ b/TB6612.h	Fri Aug 29 04:40:40 2014 +0000
@@ -77,11 +77,16 @@
     {
         speed(value);
     }
+    operator int()
+    {
+        return(stat);
+    }
     
 protected:
     PwmOut _pwm;
     DigitalOut _fwd;
     DigitalOut _rev;
+    int stat;
 };
 
 #endif