Diff: TB6612FNG/TB6612.h

Revision:

0:d90f3421aaef

Child:

1:dbde3f68f80d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TB6612FNG/TB6612.h	Sat Nov 26 18:33:38 2016 +0000
@@ -0,0 +1,93 @@
+/* mbed TB6612FNG Library
+ *
+ * TB6612.h
+ *
+ * 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.
+ */
+
+#ifndef MBED_TB6612_H
+#define MBED_TB6612_H
+
+#include "mbed.h"
+#include "SoftPWM.h"
+
+/** TB6612FNG  Library
+ *
+ * Example:
+ * @code
+ * // Drive the Motor
+
+#include "mbed.h"
+#include "TB6612.h"
+
+TB6612 motor(p21,p5,p6);    // PWMA,AIN1,AIN2
+ 
+int main() {
+
+    motor = 0.0;        // Motor stopped.
+
+    while(1)
+    {
+        motor = 0.5;    // Motor forward.
+        wait(2.0);
+        motor = -0.5;   // Motor reversal.
+        wait(2.0);
+    }
+ }
+
+ * @endcode
+ */
+
+class TB6612 {
+    // Public functions
+public:
+    /** Create a TB6612 connected to the specified pins.
+     * @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。）
+     * @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。）
+     * @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。）
+     */
+    TB6612(PinName pwm, PinName fwd, PinName rev);
+    /** Directly control the speed and direction of the motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     * @return return the stopped state or direction of rotation.
+     */
+    float speed(float speed);
+    /** A operator shorthand for speed()
+     *
+     */ 
+    void operator= ( float value )
+    {
+        speed(value);
+    }
+    operator int()
+    {
+        return(stat);
+    }
+    
+protected:
+    SoftPWM _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+    int stat;
+};
+
+#endif