kazushiro tanimoto / Mbed 2 deprecated sagawa_lpc1114

Sagawa Electronics,inc.

Dependencies:   mbed

Fork of sagawa_lpc1114 by kazushiro tanimoto

TB6612FNG/TB6612.h@0:d90f3421aaef, 2016-11-26 (annotated)

Committer:
zero515
Date:
Sat Nov 26 18:33:38 2016 +0000
Revision:
0:d90f3421aaef
Child:
1:dbde3f68f80d
sagawa mbed4adrobo sample program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
zero515 0:d90f3421aaef 1 /* mbed TB6612FNG Library
zero515 0:d90f3421aaef 2 *
zero515 0:d90f3421aaef 3 * TB6612.h
zero515 0:d90f3421aaef 4 *
zero515 0:d90f3421aaef 5 * Copyright (c) 2010-2013 jksoft
zero515 0:d90f3421aaef 6 *
zero515 0:d90f3421aaef 7 * Permission is hereby granted, free of charge, to any person obtaining a copy
zero515 0:d90f3421aaef 8 * of this software and associated documentation files (the "Software"), to deal
zero515 0:d90f3421aaef 9 * in the Software without restriction, including without limitation the rights
zero515 0:d90f3421aaef 10 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
zero515 0:d90f3421aaef 11 * copies of the Software, and to permit persons to whom the Software is
zero515 0:d90f3421aaef 12 * furnished to do so, subject to the following conditions:
zero515 0:d90f3421aaef 13 *
zero515 0:d90f3421aaef 14 * The above copyright notice and this permission notice shall be included in
zero515 0:d90f3421aaef 15 * all copies or substantial portions of the Software.
zero515 0:d90f3421aaef 16 *
zero515 0:d90f3421aaef 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
zero515 0:d90f3421aaef 18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
zero515 0:d90f3421aaef 19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
zero515 0:d90f3421aaef 20 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
zero515 0:d90f3421aaef 21 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
zero515 0:d90f3421aaef 22 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
zero515 0:d90f3421aaef 23 * THE SOFTWARE.
zero515 0:d90f3421aaef 24 */
zero515 0:d90f3421aaef 25
zero515 0:d90f3421aaef 26 #ifndef MBED_TB6612_H
zero515 0:d90f3421aaef 27 #define MBED_TB6612_H
zero515 0:d90f3421aaef 28
zero515 0:d90f3421aaef 29 #include "mbed.h"
zero515 0:d90f3421aaef 30 #include "SoftPWM.h"
zero515 0:d90f3421aaef 31
zero515 0:d90f3421aaef 32 /** TB6612FNG Library
zero515 0:d90f3421aaef 33 *
zero515 0:d90f3421aaef 34 * Example:
zero515 0:d90f3421aaef 35 * @code
zero515 0:d90f3421aaef 36 * // Drive the Motor
zero515 0:d90f3421aaef 37
zero515 0:d90f3421aaef 38 #include "mbed.h"
zero515 0:d90f3421aaef 39 #include "TB6612.h"
zero515 0:d90f3421aaef 40
zero515 0:d90f3421aaef 41 TB6612 motor(p21,p5,p6); // PWMA,AIN1,AIN2
zero515 0:d90f3421aaef 42
zero515 0:d90f3421aaef 43 int main() {
zero515 0:d90f3421aaef 44
zero515 0:d90f3421aaef 45 motor = 0.0; // Motor stopped.
zero515 0:d90f3421aaef 46
zero515 0:d90f3421aaef 47 while(1)
zero515 0:d90f3421aaef 48 {
zero515 0:d90f3421aaef 49 motor = 0.5; // Motor forward.
zero515 0:d90f3421aaef 50 wait(2.0);
zero515 0:d90f3421aaef 51 motor = -0.5; // Motor reversal.
zero515 0:d90f3421aaef 52 wait(2.0);
zero515 0:d90f3421aaef 53 }
zero515 0:d90f3421aaef 54 }
zero515 0:d90f3421aaef 55
zero515 0:d90f3421aaef 56 * @endcode
zero515 0:d90f3421aaef 57 */
zero515 0:d90f3421aaef 58
zero515 0:d90f3421aaef 59 class TB6612 {
zero515 0:d90f3421aaef 60 // Public functions
zero515 0:d90f3421aaef 61 public:
zero515 0:d90f3421aaef 62 /** Create a TB6612 connected to the specified pins.
zero515 0:d90f3421aaef 63 * @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 64 * @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 65 * @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 66 */
zero515 0:d90f3421aaef 67 TB6612(PinName pwm, PinName fwd, PinName rev);
zero515 0:d90f3421aaef 68 /** Directly control the speed and direction of the motor
zero515 0:d90f3421aaef 69 *
zero515 0:d90f3421aaef 70 * @param speed A normalised number -1.0 - 1.0 represents the full range.
zero515 0:d90f3421aaef 71 * @return return the stopped state or direction of rotation.
zero515 0:d90f3421aaef 72 */
zero515 0:d90f3421aaef 73 float speed(float speed);
zero515 0:d90f3421aaef 74 /** A operator shorthand for speed()
zero515 0:d90f3421aaef 75 *
zero515 0:d90f3421aaef 76 */
zero515 0:d90f3421aaef 77 void operator= ( float value )
zero515 0:d90f3421aaef 78 {
zero515 0:d90f3421aaef 79 speed(value);
zero515 0:d90f3421aaef 80 }
zero515 0:d90f3421aaef 81 operator int()
zero515 0:d90f3421aaef 82 {
zero515 0:d90f3421aaef 83 return(stat);
zero515 0:d90f3421aaef 84 }
zero515 0:d90f3421aaef 85
zero515 0:d90f3421aaef 86 protected:
zero515 0:d90f3421aaef 87 SoftPWM _pwm;
zero515 0:d90f3421aaef 88 DigitalOut _fwd;
zero515 0:d90f3421aaef 89 DigitalOut _rev;
zero515 0:d90f3421aaef 90 int stat;
zero515 0:d90f3421aaef 91 };
zero515 0:d90f3421aaef 92
zero515 0:d90f3421aaef 93 #endif