kazushiro tanimoto / Mbed 2 deprecated sagawa_lpc1114

Sagawa Electronics,inc.

Dependencies:   mbed

Fork of sagawa_lpc1114 by kazushiro tanimoto

TB6612FNG/TB6612.h@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?

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zero515 0:d90f3421aaef 1 #ifndef MBED_TB6612_H
zero515 0:d90f3421aaef 2 #define MBED_TB6612_H
zero515 0:d90f3421aaef 3
zero515 0:d90f3421aaef 4 #include "mbed.h"
zero515 0:d90f3421aaef 5 #include "SoftPWM.h"
zero515 0:d90f3421aaef 6
zero515 0:d90f3421aaef 7 /** TB6612FNG Library
zero515 0:d90f3421aaef 8 *
zero515 0:d90f3421aaef 9 * Example:
zero515 0:d90f3421aaef 10 * @code
zero515 0:d90f3421aaef 11 * // Drive the Motor
zero515 0:d90f3421aaef 12
zero515 0:d90f3421aaef 13 #include "mbed.h"
zero515 0:d90f3421aaef 14 #include "TB6612.h"
zero515 0:d90f3421aaef 15
zero515 0:d90f3421aaef 16 TB6612 motor(p21,p5,p6); // PWMA,AIN1,AIN2
zero515 0:d90f3421aaef 17
zero515 0:d90f3421aaef 18 int main() {
zero515 0:d90f3421aaef 19
zero515 0:d90f3421aaef 20 motor = 0.0; // Motor stopped.
zero515 0:d90f3421aaef 21
zero515 0:d90f3421aaef 22 while(1)
zero515 0:d90f3421aaef 23 {
zero515 0:d90f3421aaef 24 motor = 0.5; // Motor forward.
zero515 0:d90f3421aaef 25 wait(2.0);
zero515 0:d90f3421aaef 26 motor = -0.5; // Motor reversal.
zero515 0:d90f3421aaef 27 wait(2.0);
zero515 0:d90f3421aaef 28 }
zero515 0:d90f3421aaef 29 }
zero515 0:d90f3421aaef 30
zero515 0:d90f3421aaef 31 * @endcode
zero515 0:d90f3421aaef 32 */
zero515 0:d90f3421aaef 33
zero515 0:d90f3421aaef 34 class TB6612 {
zero515 0:d90f3421aaef 35 // Public functions
zero515 0:d90f3421aaef 36 public:
zero515 0:d90f3421aaef 37 /** Create a TB6612 connected to the specified pins.
zero515 0:d90f3421aaef 38 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed.（PwmOutに対応したポートを指定します。）
zero515 0:d90f3421aaef 39 * @param fwd A DigitalOut, set high when the motor should go forward.（DigitalOutに対応したポートを指定します。）
zero515 0:d90f3421aaef 40 * @param rev A DigitalOut, set high when the motor should go backwards.（DigitalOutに対応したポートを指定します。）
zero515 0:d90f3421aaef 41 */
zero515 0:d90f3421aaef 42 TB6612(PinName pwm, PinName fwd, PinName rev);
zero515 0:d90f3421aaef 43 /** Directly control the speed and direction of the motor
zero515 0:d90f3421aaef 44 *
zero515 0:d90f3421aaef 45 * @param speed A normalised number -1.0 - 1.0 represents the full range.
zero515 0:d90f3421aaef 46 * @return return the stopped state or direction of rotation.
zero515 0:d90f3421aaef 47 */
zero515 0:d90f3421aaef 48 float speed(float speed);
zero515 0:d90f3421aaef 49 /** A operator shorthand for speed()
zero515 0:d90f3421aaef 50 *
zero515 0:d90f3421aaef 51 */
zero515 0:d90f3421aaef 52 void operator= ( float value )
zero515 0:d90f3421aaef 53 {
zero515 0:d90f3421aaef 54 speed(value);
zero515 0:d90f3421aaef 55 }
zero515 0:d90f3421aaef 56 operator int()
zero515 0:d90f3421aaef 57 {
zero515 0:d90f3421aaef 58 return(stat);
zero515 0:d90f3421aaef 59 }
zero515 0:d90f3421aaef 60
zero515 0:d90f3421aaef 61 protected:
zero515 0:d90f3421aaef 62 SoftPWM _pwm;
zero515 0:d90f3421aaef 63 DigitalOut _fwd;
zero515 0:d90f3421aaef 64 DigitalOut _rev;
zero515 0:d90f3421aaef 65 int stat;
zero515 0:d90f3421aaef 66 };
zero515 0:d90f3421aaef 67
zero515 0:d90f3421aaef 68 #endif