Diff: TB6612FNG/TB6612.cpp

Revision:

0:d90f3421aaef

Child:

1:dbde3f68f80d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG/TB6612.cpp	Sat Nov 26 18:33:38 2016 +0000
@@ -0,0 +1,71 @@
+/* wallbot mini Library
+ *
+ * wallbotmini.cpp
+ *
+ * Copyright (c) 2010-2013 jksoft
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+#include "TB6612.h"
+
+// TB6612 Class Constructor
+TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
+        _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+    _fwd = 0;
+    _rev = 0;
+    _pwm = 0.0;
+    stat = 0;
+    _pwm.period(0.001);
+    
+}
+
+// Speed Control
+//  arg
+//   float speed -1.0 - 0.0 - 1.0
+float TB6612::speed(float speed) {
+    
+    
+    
+    if( speed > 0.0 )
+    {
+        if( speed > 0.7)    speed = 0.7;
+        _pwm = speed;
+        _fwd = 1;
+        _rev = 0;
+        stat = 1;
+    }
+    else if( speed < 0.0 )
+    {
+        if( speed < -0.7)    speed = -0.7;
+        _pwm = -speed;
+        _fwd = 0;
+        _rev = 1;
+        stat = -1;
+    }
+    else
+    {
+        _fwd = 1;
+        _rev = 1;
+        stat = 0;
+    }
+    return speed==0 ? 0 : speed > 0 ? 1 : -1;
+}
\ No newline at end of file