Junichi Katsu / TB6612FNG2

TB6612FNG用のモータコントロールライブラリ

Dependents:   WallbotMotorTest WallbotMouse WallbotR4_BTLE BLE_RCBController_Motor ... more

Fork of TB6612FNG by Junichi Katsu

TB6612.cpp@1:051a7ecff13e, 2012-11-12 (annotated)

Committer:
jksoft
Date:
Mon Nov 12 16:39:11 2012 +0000
Revision:
1:051a7ecff13e
Parent:
0:810f315ba3dc 
API??????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:810f315ba3dc 1 /**
jksoft 0:810f315ba3dc 2 * Motor Driver TB6612 Control Library
jksoft 0:810f315ba3dc 3 *
jksoft 0:810f315ba3dc 4 * -- TB6612 is a device of the TOSHIBA.
jksoft 0:810f315ba3dc 5 *
jksoft 0:810f315ba3dc 6 * Copyright (C) 2012 Junichi Katsu (JKSOFT)
jksoft 0:810f315ba3dc 7 */
jksoft 0:810f315ba3dc 8
jksoft 0:810f315ba3dc 9
jksoft 0:810f315ba3dc 10 #include "TB6612.h"
jksoft 0:810f315ba3dc 11
jksoft 0:810f315ba3dc 12 // TB6612 Class Constructor
jksoft 0:810f315ba3dc 13 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
jksoft 0:810f315ba3dc 14 _pwm(pwm), _fwd(fwd), _rev(rev) {
jksoft 0:810f315ba3dc 15
jksoft 0:810f315ba3dc 16 _fwd = 0;
jksoft 0:810f315ba3dc 17 _rev = 0;
jksoft 0:810f315ba3dc 18 _pwm = 0.0;
jksoft 0:810f315ba3dc 19 _pwm.period(0.001);
jksoft 0:810f315ba3dc 20 }
jksoft 0:810f315ba3dc 21
jksoft 0:810f315ba3dc 22 // Speed Control
jksoft 0:810f315ba3dc 23 // arg
jksoft 1:051a7ecff13e 24 // int speed -100 -- 0 -- 100
jksoft 1:051a7ecff13e 25 void TB6612::speed(int speed) {
jksoft 1:051a7ecff13e 26
jksoft 1:051a7ecff13e 27 if( speed > 0 )
jksoft 0:810f315ba3dc 28 {
jksoft 1:051a7ecff13e 29 _pwm = ((float)speed) / 100.0;
jksoft 0:810f315ba3dc 30 _fwd = 1;
jksoft 0:810f315ba3dc 31 _rev = 0;
jksoft 0:810f315ba3dc 32 }
jksoft 1:051a7ecff13e 33 else if( speed < 0 )
jksoft 0:810f315ba3dc 34 {
jksoft 1:051a7ecff13e 35 _pwm = -((float)speed) / 100.0;
jksoft 0:810f315ba3dc 36 _fwd = 0;
jksoft 0:810f315ba3dc 37 _rev = 1;
jksoft 0:810f315ba3dc 38 }
jksoft 0:810f315ba3dc 39 else
jksoft 0:810f315ba3dc 40 {
jksoft 0:810f315ba3dc 41 _fwd = 1;
jksoft 0:810f315ba3dc 42 _rev = 1;
jksoft 0:810f315ba3dc 43 }
jksoft 0:810f315ba3dc 44 }
jksoft 0:810f315ba3dc 45
jksoft 0:810f315ba3dc 46
jksoft 0:810f315ba3dc 47 // Speed Control with time-out
jksoft 0:810f315ba3dc 48 // arg
jksoft 1:051a7ecff13e 49 // int speed -100 -- 0 -- 100
jksoft 1:051a7ecff13e 50 // int time 0
jksoft 1:051a7ecff13e 51 void TB6612::move(int sspeed , int time)
jksoft 0:810f315ba3dc 52 {
jksoft 0:810f315ba3dc 53 speed(sspeed);
jksoft 1:051a7ecff13e 54 wait_ms(time);
jksoft 0:810f315ba3dc 55 }