kazushiro tanimoto / Mbed 2 deprecated sagawa_lpc1114

Sagawa Electronics,inc.

Dependencies:   mbed

Fork of sagawa_lpc1114 by kazushiro tanimoto

TB6612FNG/TB6612.cpp@1:dbde3f68f80d, 2016-11-26 (annotated)

Committer:
zero515
Date:
Sat Nov 26 19:09:24 2016 +0000
Revision:
1:dbde3f68f80d
Parent:
0:d90f3421aaef 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
zero515 0:d90f3421aaef 1 #include "TB6612.h"
zero515 0:d90f3421aaef 2
zero515 0:d90f3421aaef 3 // TB6612 Class Constructor
zero515 0:d90f3421aaef 4 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
zero515 0:d90f3421aaef 5 _pwm(pwm), _fwd(fwd), _rev(rev) {
zero515 0:d90f3421aaef 6
zero515 0:d90f3421aaef 7 _fwd = 0;
zero515 0:d90f3421aaef 8 _rev = 0;
zero515 0:d90f3421aaef 9 _pwm = 0.0;
zero515 0:d90f3421aaef 10 stat = 0;
zero515 0:d90f3421aaef 11 _pwm.period(0.001);
zero515 0:d90f3421aaef 12
zero515 0:d90f3421aaef 13 }
zero515 0:d90f3421aaef 14
zero515 0:d90f3421aaef 15 // Speed Control
zero515 0:d90f3421aaef 16 // arg
zero515 0:d90f3421aaef 17 // float speed -1.0 - 0.0 - 1.0
zero515 0:d90f3421aaef 18 float TB6612::speed(float speed) {
zero515 0:d90f3421aaef 19
zero515 0:d90f3421aaef 20
zero515 0:d90f3421aaef 21
zero515 0:d90f3421aaef 22 if( speed > 0.0 )
zero515 0:d90f3421aaef 23 {
zero515 0:d90f3421aaef 24 if( speed > 0.7) speed = 0.7;
zero515 0:d90f3421aaef 25 _pwm = speed;
zero515 0:d90f3421aaef 26 _fwd = 1;
zero515 0:d90f3421aaef 27 _rev = 0;
zero515 0:d90f3421aaef 28 stat = 1;
zero515 0:d90f3421aaef 29 }
zero515 0:d90f3421aaef 30 else if( speed < 0.0 )
zero515 0:d90f3421aaef 31 {
zero515 0:d90f3421aaef 32 if( speed < -0.7) speed = -0.7;
zero515 0:d90f3421aaef 33 _pwm = -speed;
zero515 0:d90f3421aaef 34 _fwd = 0;
zero515 0:d90f3421aaef 35 _rev = 1;
zero515 0:d90f3421aaef 36 stat = -1;
zero515 0:d90f3421aaef 37 }
zero515 0:d90f3421aaef 38 else
zero515 0:d90f3421aaef 39 {
zero515 0:d90f3421aaef 40 _fwd = 1;
zero515 0:d90f3421aaef 41 _rev = 1;
zero515 0:d90f3421aaef 42 stat = 0;
zero515 0:d90f3421aaef 43 }
zero515 0:d90f3421aaef 44 return speed==0 ? 0 : speed > 0 ? 1 : -1;
zero515 0:d90f3421aaef 45 }