Diff: drivers/TB6612FNG2/TB6612.cpp

Revision:

0:21019d94ad33

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/TB6612FNG2/TB6612.cpp	Sat Mar 21 21:31:29 2015 +0000
@@ -0,0 +1,46 @@
+/**
+ * Motor Driver TB6612 Control Library
+ *
+ * -- TB6612 is a device of the TOSHIBA. 
+ *
+ * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
+ */
+
+
+#include "TB6612.h"
+
+// TB6612 Class Constructor
+TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
+        scale(1), _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+    _fwd = 0;
+    _rev = 0;
+    _pwm = 0.0;
+    _pwm.period(0.001);
+}
+
+// Speed Control
+//  arg
+//   int speed -100 -- 0 -- 100
+void TB6612::speed(int speed_) {
+    
+    float speed = scale*(float)speed_;
+    
+    if( speed > 0 )
+    {
+        _pwm = ((float)speed)/ 100.0;
+        _fwd = 1;
+        _rev = 0;
+    }
+    else if( speed < 0 )
+    {
+        _pwm = -((float)speed)/ 100.0;
+        _fwd = 0;
+        _rev = 1;
+    }
+    else
+    {
+        _fwd = 1;
+        _rev = 1;
+    }
+}