AF_TB6612FNG.cpp

00001 #include "AF_TB6612FNG.h"
00002 #include "mbed.h"
00003 
00004 AF_TB6612FNG::AF_TB6612FNG(PinName pwma, PinName ain1, PinName ain2, PinName pwmb, PinName bin1, PinName bin2, PinName standby)
00005  : _motorL(pwma,ain1,ain2),_motorR(pwmb,bin1,bin2),_standby(standby) {
00006      _isForward = false;
00007      _standby = 1;
00008 }
00009 
00010 void AF_TB6612FNG::stop()
00011 {
00012     _motorL = 0;
00013     _motorR = 0;
00014     _isForward = false;
00015 }
00016 
00017 void AF_TB6612FNG::forward(float speed)
00018 {
00019     _motorL = speed;
00020     _motorR = speed;
00021     _isForward = true;
00022 }
00023 
00024 void AF_TB6612FNG::backward(float speed)
00025 {
00026     _motorL = -1*speed;
00027     _motorR = -1*speed;
00028     _isForward = false;
00029 }
00030 
00031 void AF_TB6612FNG::left(float speed)
00032 {
00033     _motorL = -1*speed;
00034     _motorR = speed;
00035     _isForward = false;
00036 }
00037 
00038 void AF_TB6612FNG::right(float speed)
00039 {
00040     _motorL = speed;
00041     _motorR = -1*speed;
00042     _isForward = false;
00043 }
00044 
00045 bool AF_TB6612FNG::isForward() {
00046     return _isForward;
00047 }