Simple Interface for Toshiba's TB6612FNG H-Bridge Motor Driver
TB6612FNG.cpp@5:535c74e61e36, 2013-03-21 (annotated)
- Committer:
- humlet
- Date:
- Thu Mar 21 17:06:45 2013 +0000
- Revision:
- 5:535c74e61e36
- Parent:
- 3:1ae4f0bb91c6
final !?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
humlet | 0:30d6828516f5 | 1 | #include "TB6612FNG.h" |
humlet | 0:30d6828516f5 | 2 | |
humlet | 1:3dd9137a5cec | 3 | TB6612FNG::TB6612FNG(PinName pwm, PinName ctrl1, PinName ctrl2, int period, bool brakeOnZeroDC) |
humlet | 1:3dd9137a5cec | 4 | :m_pwm(pwm), |
humlet | 1:3dd9137a5cec | 5 | m_ctrl1(ctrl1), |
humlet | 1:3dd9137a5cec | 6 | m_ctrl2(ctrl2), |
humlet | 1:3dd9137a5cec | 7 | m_pw(0), |
humlet | 1:3dd9137a5cec | 8 | m_on(false), |
humlet | 1:3dd9137a5cec | 9 | m_brakeOnZeroDC(brakeOnZeroDC), |
humlet | 1:3dd9137a5cec | 10 | m_period(period) |
humlet | 0:30d6828516f5 | 11 | { |
humlet | 0:30d6828516f5 | 12 | m_ctrl1 = 0; |
humlet | 0:30d6828516f5 | 13 | m_ctrl2 = 0; |
humlet | 1:3dd9137a5cec | 14 | m_pwm.period_us(period); |
humlet | 0:30d6828516f5 | 15 | m_pwm.pulsewidth_us(0); |
humlet | 0:30d6828516f5 | 16 | } |
humlet | 0:30d6828516f5 | 17 | |
humlet | 1:3dd9137a5cec | 18 | void TB6612FNG::setPulseWidth(int pw) |
humlet | 0:30d6828516f5 | 19 | { |
humlet | 1:3dd9137a5cec | 20 | m_pw=pw; |
humlet | 1:3dd9137a5cec | 21 | if(m_pw>m_period) m_pw=m_period; |
humlet | 1:3dd9137a5cec | 22 | else if(m_pw<-m_period) m_pw=-m_period; |
humlet | 0:30d6828516f5 | 23 | |
humlet | 0:30d6828516f5 | 24 | if(m_on)on(); |
humlet | 0:30d6828516f5 | 25 | } |
humlet | 0:30d6828516f5 | 26 | |
humlet | 0:30d6828516f5 | 27 | void TB6612FNG::on() |
humlet | 0:30d6828516f5 | 28 | { |
humlet | 0:30d6828516f5 | 29 | m_on=true; |
humlet | 1:3dd9137a5cec | 30 | if(m_pw>0) { |
humlet | 0:30d6828516f5 | 31 | m_ctrl1=1; |
humlet | 0:30d6828516f5 | 32 | m_ctrl2=0; |
humlet | 1:3dd9137a5cec | 33 | m_pwm.pulsewidth_us(m_pw); |
humlet | 1:3dd9137a5cec | 34 | } else if(m_pw<0) { |
humlet | 0:30d6828516f5 | 35 | m_ctrl1=0; |
humlet | 0:30d6828516f5 | 36 | m_ctrl2=1; |
humlet | 1:3dd9137a5cec | 37 | m_pwm.pulsewidth_us(-m_pw); |
humlet | 1:3dd9137a5cec | 38 | } else if (m_brakeOnZeroDC) { |
humlet | 1:3dd9137a5cec | 39 | m_pwm.pulsewidth_us(0); |
humlet | 0:30d6828516f5 | 40 | } else { |
humlet | 0:30d6828516f5 | 41 | m_ctrl1=0; |
humlet | 0:30d6828516f5 | 42 | m_ctrl2=0; |
humlet | 0:30d6828516f5 | 43 | } |
humlet | 1:3dd9137a5cec | 44 | |
humlet | 0:30d6828516f5 | 45 | } |
humlet | 0:30d6828516f5 | 46 | |
humlet | 0:30d6828516f5 | 47 | void TB6612FNG::off() |
humlet | 0:30d6828516f5 | 48 | { |
humlet | 0:30d6828516f5 | 49 | m_on=false; |
humlet | 0:30d6828516f5 | 50 | m_ctrl1=0; |
humlet | 0:30d6828516f5 | 51 | m_ctrl2=0; |
humlet | 0:30d6828516f5 | 52 | } |
humlet | 0:30d6828516f5 | 53 | |
humlet | 0:30d6828516f5 | 54 | void TB6612FNG::brake() |
humlet | 0:30d6828516f5 | 55 | { |
humlet | 0:30d6828516f5 | 56 | m_on=false; |
humlet | 0:30d6828516f5 | 57 | m_ctrl1=1; |
humlet | 0:30d6828516f5 | 58 | m_ctrl2=1; |
humlet | 5:535c74e61e36 | 59 | } |
humlet | 5:535c74e61e36 | 60 | |
humlet | 5:535c74e61e36 | 61 | void TB6612FNG::setZeroDCReaction(bool brakeOnZeroDC) |
humlet | 5:535c74e61e36 | 62 | { |
humlet | 5:535c74e61e36 | 63 | m_brakeOnZeroDC=brakeOnZeroDC; |
humlet | 5:535c74e61e36 | 64 | on(); |
humlet | 0:30d6828516f5 | 65 | } |