kazushiro tanimoto / Mbed 2 deprecated sagawa_lpc1114

Sagawa Electronics,inc.

Dependencies:   mbed

Fork of sagawa_lpc1114 by kazushiro tanimoto

TB6612FNG/TB6612.cpp@0:d90f3421aaef, 2016-11-26 (annotated)

Committer:
zero515
Date:
Sat Nov 26 18:33:38 2016 +0000
Revision:
0:d90f3421aaef
Child:
1:dbde3f68f80d
sagawa mbed4adrobo sample program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zero515 0:d90f3421aaef 1 /* wallbot mini Library
zero515 0:d90f3421aaef 2 *
zero515 0:d90f3421aaef 3 * wallbotmini.cpp
zero515 0:d90f3421aaef 4 *
zero515 0:d90f3421aaef 5 * Copyright (c) 2010-2013 jksoft
zero515 0:d90f3421aaef 6 *
zero515 0:d90f3421aaef 7 * Permission is hereby granted, free of charge, to any person obtaining a copy
zero515 0:d90f3421aaef 8 * of this software and associated documentation files (the "Software"), to deal
zero515 0:d90f3421aaef 9 * in the Software without restriction, including without limitation the rights
zero515 0:d90f3421aaef 10 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
zero515 0:d90f3421aaef 11 * copies of the Software, and to permit persons to whom the Software is
zero515 0:d90f3421aaef 12 * furnished to do so, subject to the following conditions:
zero515 0:d90f3421aaef 13 *
zero515 0:d90f3421aaef 14 * The above copyright notice and this permission notice shall be included in
zero515 0:d90f3421aaef 15 * all copies or substantial portions of the Software.
zero515 0:d90f3421aaef 16 *
zero515 0:d90f3421aaef 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
zero515 0:d90f3421aaef 18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
zero515 0:d90f3421aaef 19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
zero515 0:d90f3421aaef 20 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
zero515 0:d90f3421aaef 21 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
zero515 0:d90f3421aaef 22 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
zero515 0:d90f3421aaef 23 * THE SOFTWARE.
zero515 0:d90f3421aaef 24 */
zero515 0:d90f3421aaef 25
zero515 0:d90f3421aaef 26
zero515 0:d90f3421aaef 27 #include "TB6612.h"
zero515 0:d90f3421aaef 28
zero515 0:d90f3421aaef 29 // TB6612 Class Constructor
zero515 0:d90f3421aaef 30 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
zero515 0:d90f3421aaef 31 _pwm(pwm), _fwd(fwd), _rev(rev) {
zero515 0:d90f3421aaef 32
zero515 0:d90f3421aaef 33 _fwd = 0;
zero515 0:d90f3421aaef 34 _rev = 0;
zero515 0:d90f3421aaef 35 _pwm = 0.0;
zero515 0:d90f3421aaef 36 stat = 0;
zero515 0:d90f3421aaef 37 _pwm.period(0.001);
zero515 0:d90f3421aaef 38
zero515 0:d90f3421aaef 39 }
zero515 0:d90f3421aaef 40
zero515 0:d90f3421aaef 41 // Speed Control
zero515 0:d90f3421aaef 42 // arg
zero515 0:d90f3421aaef 43 // float speed -1.0 - 0.0 - 1.0
zero515 0:d90f3421aaef 44 float TB6612::speed(float speed) {
zero515 0:d90f3421aaef 45
zero515 0:d90f3421aaef 46
zero515 0:d90f3421aaef 47
zero515 0:d90f3421aaef 48 if( speed > 0.0 )
zero515 0:d90f3421aaef 49 {
zero515 0:d90f3421aaef 50 if( speed > 0.7) speed = 0.7;
zero515 0:d90f3421aaef 51 _pwm = speed;
zero515 0:d90f3421aaef 52 _fwd = 1;
zero515 0:d90f3421aaef 53 _rev = 0;
zero515 0:d90f3421aaef 54 stat = 1;
zero515 0:d90f3421aaef 55 }
zero515 0:d90f3421aaef 56 else if( speed < 0.0 )
zero515 0:d90f3421aaef 57 {
zero515 0:d90f3421aaef 58 if( speed < -0.7) speed = -0.7;
zero515 0:d90f3421aaef 59 _pwm = -speed;
zero515 0:d90f3421aaef 60 _fwd = 0;
zero515 0:d90f3421aaef 61 _rev = 1;
zero515 0:d90f3421aaef 62 stat = -1;
zero515 0:d90f3421aaef 63 }
zero515 0:d90f3421aaef 64 else
zero515 0:d90f3421aaef 65 {
zero515 0:d90f3421aaef 66 _fwd = 1;
zero515 0:d90f3421aaef 67 _rev = 1;
zero515 0:d90f3421aaef 68 stat = 0;
zero515 0:d90f3421aaef 69 }
zero515 0:d90f3421aaef 70 return speed==0 ? 0 : speed > 0 ? 1 : -1;
zero515 0:d90f3421aaef 71 }