takuya ichise / AF_TB6612FNG

AF_TB6612FNG is a library of TB6612FNG.

Example

include the mbed library with this snippet

#include "mbed.h"
#include "AF_TB6612FNG.h"

AF_TB6612FNG tb6612fng(p21, p20, p19, p22, p18, p17, p12);

int main() {
    float speed = 0.6;
    tb6612fng.forward(speed);
}

AF_TB6612FNG.cpp@2:d6cb78f523b0, 2018-06-04 (annotated)

Committer:
tichise
Date:
Mon Jun 04 00:43:00 2018 +0000
Revision:
2:d6cb78f523b0
Parent:
0:98dcc458e267 
refactoring

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tichise 0:98dcc458e267 1 #include "AF_TB6612FNG.h"
tichise 0:98dcc458e267 2 #include "mbed.h"
tichise 0:98dcc458e267 3
tichise 0:98dcc458e267 4 AF_TB6612FNG::AF_TB6612FNG(PinName pwma, PinName ain1, PinName ain2, PinName pwmb, PinName bin1, PinName bin2, PinName standby)
tichise 0:98dcc458e267 5 : _motorL(pwma,ain1,ain2),_motorR(pwmb,bin1,bin2),_standby(standby) {
tichise 0:98dcc458e267 6 _isForward = false;
tichise 0:98dcc458e267 7 _standby = 1;
tichise 0:98dcc458e267 8 }
tichise 0:98dcc458e267 9
tichise 0:98dcc458e267 10 void AF_TB6612FNG::stop()
tichise 0:98dcc458e267 11 {
tichise 0:98dcc458e267 12 _motorL = 0;
tichise 0:98dcc458e267 13 _motorR = 0;
tichise 2:d6cb78f523b0 14 _isForward = false;
tichise 0:98dcc458e267 15 }
tichise 0:98dcc458e267 16
tichise 0:98dcc458e267 17 void AF_TB6612FNG::forward(float speed)
tichise 0:98dcc458e267 18 {
tichise 0:98dcc458e267 19 _motorL = speed;
tichise 0:98dcc458e267 20 _motorR = speed;
tichise 0:98dcc458e267 21 _isForward = true;
tichise 0:98dcc458e267 22 }
tichise 0:98dcc458e267 23
tichise 2:d6cb78f523b0 24 void AF_TB6612FNG::backward(float speed)
tichise 0:98dcc458e267 25 {
tichise 0:98dcc458e267 26 _motorL = -1*speed;
tichise 0:98dcc458e267 27 _motorR = -1*speed;
tichise 2:d6cb78f523b0 28 _isForward = false;
tichise 0:98dcc458e267 29 }
tichise 0:98dcc458e267 30
tichise 0:98dcc458e267 31 void AF_TB6612FNG::left(float speed)
tichise 0:98dcc458e267 32 {
tichise 0:98dcc458e267 33 _motorL = -1*speed;
tichise 0:98dcc458e267 34 _motorR = speed;
tichise 2:d6cb78f523b0 35 _isForward = false;
tichise 0:98dcc458e267 36 }
tichise 0:98dcc458e267 37
tichise 0:98dcc458e267 38 void AF_TB6612FNG::right(float speed)
tichise 0:98dcc458e267 39 {
tichise 0:98dcc458e267 40 _motorL = speed;
tichise 0:98dcc458e267 41 _motorR = -1*speed;
tichise 2:d6cb78f523b0 42 _isForward = false;
tichise 0:98dcc458e267 43 }
tichise 0:98dcc458e267 44
tichise 0:98dcc458e267 45 bool AF_TB6612FNG::isForward() {
tichise 0:98dcc458e267 46 return _isForward;
tichise 0:98dcc458e267 47 }