Junichi Katsu / Mbed 2 deprecated wallbotLED_base

うおーるぼっとLEDのワークショップ用

Dependencies:   mbed

wallbotLED/TB6612/TB6612.cpp@0:9fcc79b3f00e, 2017-02-03 (annotated)

Committer:
jksoft
Date:
Fri Feb 03 06:26:54 2017 +0000
Revision:
0:9fcc79b3f00e
??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:9fcc79b3f00e 1 /**
jksoft 0:9fcc79b3f00e 2 * Motor Driver TB6612 Control Library
jksoft 0:9fcc79b3f00e 3 *
jksoft 0:9fcc79b3f00e 4 * -- TB6612 is a device of the TOSHIBA.
jksoft 0:9fcc79b3f00e 5 *
jksoft 0:9fcc79b3f00e 6 * Copyright (C) 2012 Junichi Katsu (JKSOFT)
jksoft 0:9fcc79b3f00e 7 */
jksoft 0:9fcc79b3f00e 8
jksoft 0:9fcc79b3f00e 9
jksoft 0:9fcc79b3f00e 10 #include "TB6612.h"
jksoft 0:9fcc79b3f00e 11
jksoft 0:9fcc79b3f00e 12 // TB6612 Class Constructor
jksoft 0:9fcc79b3f00e 13 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
jksoft 0:9fcc79b3f00e 14 _pwm(pwm), _fwd(fwd), _rev(rev) {
jksoft 0:9fcc79b3f00e 15
jksoft 0:9fcc79b3f00e 16 _fwd = 0;
jksoft 0:9fcc79b3f00e 17 _rev = 0;
jksoft 0:9fcc79b3f00e 18 _pwm = 0.0;
jksoft 0:9fcc79b3f00e 19 _pwm.period(0.001);
jksoft 0:9fcc79b3f00e 20
jksoft 0:9fcc79b3f00e 21 bspeed = 0.0;
jksoft 0:9fcc79b3f00e 22 timer_flag = false;
jksoft 0:9fcc79b3f00e 23 }
jksoft 0:9fcc79b3f00e 24
jksoft 0:9fcc79b3f00e 25 // Speed Control
jksoft 0:9fcc79b3f00e 26 // arg
jksoft 0:9fcc79b3f00e 27 // float speed -1.0 - 0.0 - 1.0
jksoft 0:9fcc79b3f00e 28 void TB6612::speed(float speed) {
jksoft 0:9fcc79b3f00e 29
jksoft 0:9fcc79b3f00e 30 if( timer_flag == true ) return;
jksoft 0:9fcc79b3f00e 31
jksoft 0:9fcc79b3f00e 32 bspeed = speed;
jksoft 0:9fcc79b3f00e 33
jksoft 0:9fcc79b3f00e 34 if( speed > 0.0 )
jksoft 0:9fcc79b3f00e 35 {
jksoft 0:9fcc79b3f00e 36 _pwm = speed;
jksoft 0:9fcc79b3f00e 37 _fwd = 1;
jksoft 0:9fcc79b3f00e 38 _rev = 0;
jksoft 0:9fcc79b3f00e 39 }
jksoft 0:9fcc79b3f00e 40 else if( speed < 0.0 )
jksoft 0:9fcc79b3f00e 41 {
jksoft 0:9fcc79b3f00e 42 _pwm = -speed;
jksoft 0:9fcc79b3f00e 43 _fwd = 0;
jksoft 0:9fcc79b3f00e 44 _rev = 1;
jksoft 0:9fcc79b3f00e 45 }
jksoft 0:9fcc79b3f00e 46 else
jksoft 0:9fcc79b3f00e 47 {
jksoft 0:9fcc79b3f00e 48 _fwd = 1;
jksoft 0:9fcc79b3f00e 49 _rev = 1;
jksoft 0:9fcc79b3f00e 50 }
jksoft 0:9fcc79b3f00e 51 }
jksoft 0:9fcc79b3f00e 52
jksoft 0:9fcc79b3f00e 53
jksoft 0:9fcc79b3f00e 54 // Speed Control with time-out
jksoft 0:9fcc79b3f00e 55 // arg
jksoft 0:9fcc79b3f00e 56 // float sspeed:-1.0 - 0.0 - 1.0
jksoft 0:9fcc79b3f00e 57 // float time :0.0-
jksoft 0:9fcc79b3f00e 58 void TB6612::move(float sspeed , float time)
jksoft 0:9fcc79b3f00e 59 {
jksoft 0:9fcc79b3f00e 60 speed(sspeed);
jksoft 0:9fcc79b3f00e 61 timer_flag = true;
jksoft 0:9fcc79b3f00e 62 timer.attach(this,&TB6612::timeout,time);
jksoft 0:9fcc79b3f00e 63 }
jksoft 0:9fcc79b3f00e 64
jksoft 0:9fcc79b3f00e 65
jksoft 0:9fcc79b3f00e 66 void TB6612::timeout()
jksoft 0:9fcc79b3f00e 67 {
jksoft 0:9fcc79b3f00e 68 timer_flag = false;
jksoft 0:9fcc79b3f00e 69 speed(bspeed);
jksoft 0:9fcc79b3f00e 70 }
jksoft 0:9fcc79b3f00e 71