EdgeBotix / TB6612FNG2

Initial Fork

TB6612.cpp

Committer:
Throwbot
Date:
2014-05-08
Revision:
2:73cbc6028f7a
Parent:
1:051a7ecff13e
Child:
3:cb336a5cf19e

File content as of revision 2:73cbc6028f7a:

/**
 * Motor Driver TB6612 Control Library
 *
 * -- TB6612 is a device of the TOSHIBA. 
 *
 * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
 */


#include "TB6612.h"

// TB6612 Class Constructor
TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
        scale(1), _pwm(pwm), _fwd(fwd), _rev(rev) {

    _fwd = 0;
    _rev = 0;
    _pwm = 0.0;
    _pwm.period(0.001);
}

// Speed Control
//  arg
//   int speed -100 -- 0 -- 100
void TB6612::speed(int speed) {
    
    speed *= scale;
    
    if( speed > 0 )
    {
        _pwm = ((float)speed)/ 100.0;
        _fwd = 1;
        _rev = 0;
    }
    else if( speed < 0 )
    {
        _pwm = -((float)speed)/ 100.0;
        _fwd = 0;
        _rev = 1;
    }
    else
    {
        _fwd = 1;
        _rev = 1;
    }
}