It is a library for controlling Wallbot mini
Diff: TB6612/TB6612.cpp
- Revision:
- 0:a11da93ea3f6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TB6612/TB6612.cpp Sat Nov 02 01:04:00 2013 +0000 @@ -0,0 +1,71 @@ +/** + * 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); + + 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; + + if( speed > 0.0 ) + { + _pwm = speed; + _fwd = 1; + _rev = 0; + } + else if( speed < 0.0 ) + { + _pwm = -speed; + _fwd = 0; + _rev = 1; + } + else + { + _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); +} +