TB6612.cpp

00001 #include "TB6612.h"
00002 
00003 // TB6612 Class Constructor
00004 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
00005         _pwm(pwm), _fwd(fwd), _rev(rev) {
00006 
00007     _fwd = 0;
00008     _rev = 0;
00009     _pwm = 0.0;
00010     stat = 0;
00011     _pwm.period(0.001);
00012     
00013 }
00014 
00015 // Speed Control
00016 //  arg
00017 //   float speed -1.0 - 0.0 - 1.0
00018 float TB6612::speed(float speed) {
00019     
00020     
00021     
00022     if( speed > 0.0 )
00023     {
00024         if( speed > 0.7)    speed = 0.7;
00025         _pwm = speed;
00026         _fwd = 1;
00027         _rev = 0;
00028         stat = 1;
00029     }
00030     else if( speed < 0.0 )
00031     {
00032         if( speed < -0.7)    speed = -0.7;
00033         _pwm = -speed;
00034         _fwd = 0;
00035         _rev = 1;
00036         stat = -1;
00037     }
00038     else
00039     {
00040         _fwd = 1;
00041         _rev = 1;
00042         stat = 0;
00043     }
00044     return speed==0 ? 0 : speed > 0 ? 1 : -1;
00045 }