Revision 0:1a07771ff613, committed 2013-11-24

Comitter:

rabad1

Date:

Sun Nov 24 21:47:54 2013 +0000

Child:

1:8f562bdd5e93

Commit message:

initial release

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG.cpp	Sun Nov 24 21:47:54 2013 +0000
@@ -0,0 +1,100 @@
+/* File: TB6612FNG.h
+ * Author: Robert Abad      Copyright (c) 2013
+ *
+ * Desc: driver for TB6612FNG Motor Driver.  For further details see
+ *       header file, TB6612FNG.h
+ */
+
+#include "mbed.h"
+#include "TB6612FNG.h"
+
+#define SIGNAL_HIGH     (1)
+#define SIGNAL_LOW      (0)
+
+TB6612FNG::TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
+                      PinName pinPwmB, PinName pinBin1, PinName pinBin2,
+                      PinName pinNStby ) :
+pwmA(pinPwmA),
+Ain1(pinAin1),
+Ain2(pinAin2),
+pwmB(pinPwmB),
+Bin1(pinBin1),
+Bin2(pinBin2),
+nStby(pinNStby)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_LOW;
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_LOW;
+    pwmA.period(TB6612FNG_PWM_PERIOD_DEFAULT);
+    pwmA = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
+    pwmB.period(TB6612FNG_PWM_PERIOD_DEFAULT);
+    pwmB = TB6612FNG_PWM_PULSEWIDTH_DEFAULT;
+    nStby = SIGNAL_LOW;
+}
+
+void TB6612FNG::setPwmAperiod(float fPeriod)
+{
+    pwmA.period(fPeriod);
+}
+
+void TB6612FNG::setPwmApulsewidth(float fPulsewidth)
+{
+    pwmA = fPulsewidth;
+}
+
+void TB6612FNG::setPwmBperiod(float fPeriod)
+{
+    pwmB.period(fPeriod);
+}
+
+void TB6612FNG::setPwmBpulsewidth(float fPulsewidth)
+{
+    pwmB = fPulsewidth;
+}
+
+void TB6612FNG::standby(void)
+{
+    nStby = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorA_stop(void)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorA_ccw(void)
+{
+    Ain1 = SIGNAL_LOW;
+    Ain2 = SIGNAL_HIGH;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorA_cw(void)
+{
+    Ain1 = SIGNAL_HIGH;
+    Ain2 = SIGNAL_LOW;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorB_stop(void)
+{
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_LOW;
+}
+
+void TB6612FNG::motorB_ccw(void)
+{
+    Bin1 = SIGNAL_LOW;
+    Bin2 = SIGNAL_HIGH;
+    nStby = SIGNAL_HIGH;
+}
+
+void TB6612FNG::motorB_cw(void)
+{
+    Bin1 = SIGNAL_HIGH;
+    Bin2 = SIGNAL_LOW;
+    nStby = SIGNAL_HIGH;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG.h	Sun Nov 24 21:47:54 2013 +0000
@@ -0,0 +1,92 @@
+/* File: TB6612FNG.h
+ * Author: Robert Abad      Copyright (c) 2013
+ *
+ * Desc: driver for Toshiiba TB6612FNG Motor Driver.  Though this motor driver
+ *       can be used to drive two motors (A and B), it can be used to drive
+ *       just one. Member functions can be used to set period and pulsewidth
+ *       but are not necessary as the constructor does set default values).
+ *       The datasheet for this device can be found here:
+ *       http://www.toshiba.com/taec/components2/Datasheet_Sync/261/27197.pdf
+ *
+ *       Below is some sample code:
+ *
+ *       #include "mbed.h"
+ *       #include "TB6612FNG.h"
+ *
+ *       #define TB6612FNG_PIN_PWMA      (p22)
+ *       #define TB6612FNG_PIN_AIN1      (p17)
+ *       #define TB6612FNG_PIN_AIN2      (p16)
+ *       #define TB6612FNG_PIN_PWMB      (p21)
+ *       #define TB6612FNG_PIN_BIN1      (p19)
+ *       #define TB6612FNG_PIN_BIN2      (p20)
+ *       #define TB6612FNG_PIN_NSTBY     (p18)
+ *       TB6612FNG motorDriver( TB6612FNG_PIN_PWMA, TB6612FNG_PIN_AIN1, TB6612FNG_PIN_AIN2,
+ *                              TB6612FNG_PIN_PWMB, TB6612FNG_PIN_BIN1, TB6612FNG_PIN_BIN2,
+ *                              TB6612FNG_PIN_NSTBY );
+ *       float fPwmPeriod;
+ *       float fPwmPulsewidth;
+ *
+ *       int main()
+ *       {
+ *           fPwmPeriod = 0.00002f;      // 50KHz
+ *           fPwmPulsewidth = 0.50;      // 50% duty cycle
+ *           motorDriver.setPwmAperiod(fPwmPeriod);
+ *           motorDriver.setPwmBperiod(fPwmPeriod);
+ *           motorDriver.setPwmApulsewidth(fPwmPulsewidth);
+ *           motorDriver.setPwmBpulsewidth(fPwmPulsewidth);
+ *   
+ *           while(1)
+ *           {
+ *               motorDriver.motorA_ccw();
+ *               wait(2);
+ *               motorDriver.motorA_cw();
+ *               wait(2);
+ *               motorDriver.motorA_stop();
+ *               wait(2);
+ *               motorDriver.motorB_ccw();
+ *               wait(2);
+ *               motorDriver.motorB_cw();
+ *               wait(2);
+ *               motorDriver.motorB_stop();
+ *               wait(2);
+ *           }
+ *       }
+ */
+
+#ifndef __TB6612FNG_H__
+#define __TB6612FNG_H__
+
+#include "mbed.h"
+
+#define TB6612FNG_PWM_PERIOD_DEFAULT      (0.00002)   // 50KHz
+#define TB6612FNG_PWM_PULSEWIDTH_DEFAULT  (0.50)      // 50% duty cycle
+ 
+class TB6612FNG
+{
+public:
+    TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2,
+               PinName pinPwmB, PinName pinBin1, PinName pinBin2,
+               PinName pinNStby );
+    void setPwmAperiod(float fPeriod);
+    void setPwmApulsewidth(float fPulsewidth);
+    void setPwmBperiod(float fPeriod);
+    void setPwmBpulsewidth(float fPulsewidth);
+    void standby(void);
+    void motorA_stop(void);
+    void motorA_ccw(void);
+    void motorA_cw(void);
+    void motorB_stop(void);
+    void motorB_ccw(void);
+    void motorB_cw(void);
+    
+private:
+    PwmOut pwmA;
+    DigitalOut Ain1;
+    DigitalOut Ain2;
+    PwmOut pwmB;
+    DigitalOut Bin1;
+    DigitalOut Bin2;
+    DigitalOut nStby;
+};
+
+#endif /* __TB6612FNG_H__ */
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