TB6612.cpp

00001 /**
00002  * Motor Driver TB6612 Control Library
00003  *
00004  * -- TB6612 is a device of the TOSHIBA. 
00005  *
00006  * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
00007  */
00008 
00009 
00010 #include "TB6612.h"
00011 
00012 // TB6612 Class Constructor
00013 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
00014         scale(1), _pwm(pwm), _fwd(fwd), _rev(rev) {
00015 
00016     _fwd = 0;
00017     _rev = 0;
00018     _pwm = 0.0;
00019     _pwm.period(0.001);
00020 }
00021 
00022 // Speed Control
00023 //  arg
00024 //   int speed -100 -- 0 -- 100
00025 void TB6612::speed(int speed_) {
00026     
00027     float speed = scale*(float)speed_;
00028     
00029     if( speed > 0 )
00030     {
00031         _pwm = ((float)speed)/ 100.0;
00032         _fwd = 1;
00033         _rev = 0;
00034     }
00035     else if( speed < 0 )
00036     {
00037         _pwm = -((float)speed)/ 100.0;
00038         _fwd = 0;
00039         _rev = 1;
00040     }
00041     else
00042     {
00043         _fwd = 1;
00044         _rev = 1;
00045     }
00046 }