File content as of revision 1:dbde3f68f80d:

#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