Junichi Katsu
うおーるぼっとをWiiリモコンでコントロールする新しいプログラムです。 以前のものより、Wiiリモコンが早く繋がる様になりました。 It is a program which controls A with the Wii remote. ※ A Bluetooth dongle and a Wii remote control are needed.
Dependencies: USBHost mbed FATFileSystem mbed-rtos
Diff: TB6612FNG2/TB6612.cpp
- Revision:
- 0:fccb789424fc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG2/TB6612.cpp Mon Jun 10 16:01:50 2013 +0000
@@ -0,0 +1,55 @@
+/**
+ * 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);
+}
+
+// Speed Control
+// arg
+// int speed -100 -- 0 -- 100
+void TB6612::speed(int speed) {
+
+ if( speed > 0 )
+ {
+ _pwm = ((float)speed) / 100.0;
+ _fwd = 1;
+ _rev = 0;
+ }
+ else if( speed < 0 )
+ {
+ _pwm = -((float)speed) / 100.0;
+ _fwd = 0;
+ _rev = 1;
+ }
+ else
+ {
+ _fwd = 1;
+ _rev = 1;
+ }
+}
+
+
+// Speed Control with time-out
+// arg
+// int speed -100 -- 0 -- 100
+// int time 0
+void TB6612::move(int sspeed , int time)
+{
+ speed(sspeed);
+ wait_ms(time);
+}