narumi tatsuya
/
go-went-Carlos_Gone
ニドキング
Diff: TB6612.cpp
- Revision:
- 0:5cddbcb7193f
diff -r 000000000000 -r 5cddbcb7193f TB6612.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TB6612.cpp Tue Dec 15 08:36:33 2020 +0000 @@ -0,0 +1,57 @@ +/** + * 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); +} + + \ No newline at end of file