TB6612.h

00001 #ifndef MBED_TB6612_H
00002 #define MBED_TB6612_H
00003 
00004 #include "mbed.h"
00005 #include "SoftPWM.h"
00006 
00007 /** TB6612FNG  Library
00008  *
00009  * Example:
00010  * @code
00011  * // Drive the Motor
00012 
00013 #include "mbed.h"
00014 #include "TB6612.h"
00015 
00016 TB6612 motor(p21,p5,p6);    // PWMA,AIN1,AIN2
00017  
00018 int main() {
00019 
00020     motor = 0.0;        // Motor stopped.
00021 
00022     while(1)
00023     {
00024         motor = 0.5;    // Motor forward.
00025         wait(2.0);
00026         motor = -0.5;   // Motor reversal.
00027         wait(2.0);
00028     }
00029  }
00030 
00031  * @endcode
00032  */
00033 
00034 class TB6612 {
00035     // Public functions
00036 public:
00037     /** Create a TB6612 connected to the specified pins.
00038      * @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。）
00039      * @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。）
00040      * @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。）
00041      */
00042     TB6612(PinName pwm, PinName fwd, PinName rev);
00043     /** Directly control the speed and direction of the motor
00044      *
00045      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00046      * @return return the stopped state or direction of rotation.
00047      */
00048     float speed(float speed);
00049     /** A operator shorthand for speed()
00050      *
00051      */ 
00052     void operator= ( float value )
00053     {
00054         speed(value);
00055     }
00056     operator int()
00057     {
00058         return(stat);
00059     }
00060     
00061 protected:
00062     SoftPWM _pwm;
00063     DigitalOut _fwd;
00064     DigitalOut _rev;
00065     int stat;
00066 };
00067 
00068 #endif