Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

drivers/TB6612FNG2/TB6612.cpp

Committer:
majik
Date:
2015-03-18
Revision:
0:964eb6a2ef00

File content as of revision 0:964eb6a2ef00:

/**
 * 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):
        scale(1), _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_) {
    
    float speed = scale*(float)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;
    }
}