TB6612FNG.cpp

00001 /* File: TB6612FNG.h
00002  * Author: Robert Abad      Copyright (c) 2013
00003  *
00004  * Desc: driver for TB6612FNG Motor Driver.  For further details see
00005  *       header file, TB6612FNG.h
00006  */
00007 
00008 #include "mbed.h"
00009 #include "TB6612FNG.h"
00010 
00011 #define SIGNAL_HIGH     (1)
00012 #define SIGNAL_LOW      (0)
00013 
00014 TB6612FNG::TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
00015                       PinName pinPwmB, PinName pinBin1, PinName pinBin2,
00016                       PinName pinNStby ) :
00017 pwmA(pinPwmA),
00018 Ain1(pinAin1),
00019 Ain2(pinAin2),
00020 pwmB(pinPwmB),
00021 Bin1(pinBin1),
00022 Bin2(pinBin2),
00023 nStby(pinNStby)
00024 {
00025     Ain1 = SIGNAL_LOW;
00026     Ain2 = SIGNAL_LOW;
00027     Bin1 = SIGNAL_LOW;
00028     Bin2 = SIGNAL_LOW;
00029     pwmA.period(TB6612FNG_PWM_PERIOD_DEFAULT);
00030     pwmA = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
00031     pwmB.period(TB6612FNG_PWM_PERIOD_DEFAULT);
00032     pwmB = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
00033     nStby = SIGNAL_LOW;
00034 }
00035 
00036 void TB6612FNG::setPwmA(float fPeriod, float fPulsewidth)
00037 {
00038     pwmA.period(fPeriod);
00039     pwmA = fPulsewidth;
00040 }
00041 
00042 void TB6612FNG::setPwmAperiod(float fPeriod)
00043 {
00044     pwmA.period(fPeriod);
00045 }
00046 
00047 void TB6612FNG::setPwmApulsewidth(float fPulsewidth)
00048 {
00049     pwmA = fPulsewidth;
00050 }
00051 
00052 void TB6612FNG::setPwmB(float fPeriod, float fPulsewidth)
00053 {
00054     pwmB.period(fPeriod);
00055     pwmB = fPulsewidth;
00056 }
00057 
00058 void TB6612FNG::setPwmBperiod(float fPeriod)
00059 {
00060     pwmB.period(fPeriod);
00061 }
00062 
00063 void TB6612FNG::setPwmBpulsewidth(float fPulsewidth)
00064 {
00065     pwmB = fPulsewidth;
00066 }
00067 
00068 void TB6612FNG::standby(void)
00069 {
00070     nStby = SIGNAL_LOW;
00071 }
00072 
00073 void TB6612FNG::motorA_stop(void)
00074 {
00075     Ain1 = SIGNAL_LOW;
00076     Ain2 = SIGNAL_LOW;
00077 }
00078 
00079 void TB6612FNG::motorA_ccw(void)
00080 {
00081     Ain1 = SIGNAL_LOW;
00082     Ain2 = SIGNAL_HIGH;
00083     nStby = SIGNAL_HIGH;
00084 }
00085 
00086 void TB6612FNG::motorA_cw(void)
00087 {
00088     Ain1 = SIGNAL_HIGH;
00089     Ain2 = SIGNAL_LOW;
00090     nStby = SIGNAL_HIGH;
00091 }
00092 
00093 void TB6612FNG::motorB_stop(void)
00094 {
00095     Bin1 = SIGNAL_LOW;
00096     Bin2 = SIGNAL_LOW;
00097 }
00098 
00099 void TB6612FNG::motorB_ccw(void)
00100 {
00101     Bin1 = SIGNAL_LOW;
00102     Bin2 = SIGNAL_HIGH;
00103     nStby = SIGNAL_HIGH;
00104 }
00105 
00106 void TB6612FNG::motorB_cw(void)
00107 {
00108     Bin1 = SIGNAL_HIGH;
00109     Bin2 = SIGNAL_LOW;
00110     nStby = SIGNAL_HIGH;
00111 }
00112 
00113