narumi tatsuya
/
mou
ニョロゾ
TB6612.cpp@6:f862230de7b5, 2020-12-18 (annotated)
- Committer:
- naruu
- Date:
- Fri Dec 18 02:31:39 2020 +0000
- Revision:
- 6:f862230de7b5
- Parent:
- 2:98629c0bb9ff
kou;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
naruu | 2:98629c0bb9ff | 1 | /** |
naruu | 2:98629c0bb9ff | 2 | * Motor Driver TB6612 Control Library |
naruu | 2:98629c0bb9ff | 3 | * |
naruu | 2:98629c0bb9ff | 4 | * -- TB6612 is a device of the TOSHIBA. |
naruu | 2:98629c0bb9ff | 5 | * |
naruu | 2:98629c0bb9ff | 6 | * Copyright (C) 2012 Junichi Katsu (JKSOFT) |
naruu | 2:98629c0bb9ff | 7 | */ |
naruu | 2:98629c0bb9ff | 8 | |
naruu | 2:98629c0bb9ff | 9 | |
naruu | 2:98629c0bb9ff | 10 | #include "TB6612.h" |
naruu | 2:98629c0bb9ff | 11 | |
naruu | 2:98629c0bb9ff | 12 | // TB6612 Class Constructor |
naruu | 2:98629c0bb9ff | 13 | TB6612::TB6612(PinName pwm, PinName fwd, PinName rev): |
naruu | 2:98629c0bb9ff | 14 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
naruu | 2:98629c0bb9ff | 15 | |
naruu | 2:98629c0bb9ff | 16 | _fwd = 0; |
naruu | 2:98629c0bb9ff | 17 | _rev = 0; |
naruu | 2:98629c0bb9ff | 18 | _pwm = 0.0; |
naruu | 2:98629c0bb9ff | 19 | _pwm.period(0.001); |
naruu | 2:98629c0bb9ff | 20 | } |
naruu | 2:98629c0bb9ff | 21 | |
naruu | 2:98629c0bb9ff | 22 | // Speed Control |
naruu | 2:98629c0bb9ff | 23 | // arg |
naruu | 2:98629c0bb9ff | 24 | // int speed -100 -- 0 -- 100 |
naruu | 2:98629c0bb9ff | 25 | void TB6612::speed(int speed) { |
naruu | 2:98629c0bb9ff | 26 | |
naruu | 2:98629c0bb9ff | 27 | if( speed > 0 ) |
naruu | 2:98629c0bb9ff | 28 | { |
naruu | 2:98629c0bb9ff | 29 | _pwm = ((float)speed) / 100.0; |
naruu | 2:98629c0bb9ff | 30 | _fwd = 1; |
naruu | 2:98629c0bb9ff | 31 | _rev = 0; |
naruu | 2:98629c0bb9ff | 32 | } |
naruu | 2:98629c0bb9ff | 33 | else if( speed < 0 ) |
naruu | 2:98629c0bb9ff | 34 | { |
naruu | 2:98629c0bb9ff | 35 | _pwm = -((float)speed) / 100.0; |
naruu | 2:98629c0bb9ff | 36 | _fwd = 0; |
naruu | 2:98629c0bb9ff | 37 | _rev = 1; |
naruu | 2:98629c0bb9ff | 38 | } |
naruu | 2:98629c0bb9ff | 39 | else |
naruu | 2:98629c0bb9ff | 40 | { |
naruu | 2:98629c0bb9ff | 41 | _fwd = 1; |
naruu | 2:98629c0bb9ff | 42 | _rev = 1; |
naruu | 2:98629c0bb9ff | 43 | } |
naruu | 2:98629c0bb9ff | 44 | } |
naruu | 2:98629c0bb9ff | 45 | |
naruu | 2:98629c0bb9ff | 46 | |
naruu | 2:98629c0bb9ff | 47 | // Speed Control with time-out |
naruu | 2:98629c0bb9ff | 48 | // arg |
naruu | 2:98629c0bb9ff | 49 | // int speed -100 -- 0 -- 100 |
naruu | 2:98629c0bb9ff | 50 | // int time 0 |
naruu | 2:98629c0bb9ff | 51 | void TB6612::move(int sspeed , int time) |
naruu | 2:98629c0bb9ff | 52 | { |
naruu | 2:98629c0bb9ff | 53 | speed(sspeed); |
naruu | 2:98629c0bb9ff | 54 | wait_ms(time); |
naruu | 2:98629c0bb9ff | 55 | } |
naruu | 2:98629c0bb9ff | 56 | |
naruu | 2:98629c0bb9ff | 57 |