Junichi Katsu / Mbed 2 deprecated WallbotR4

Test Ver

Dependencies:   mbed FatFileSystem

TB6612/TB6612.cpp@0:269589d8d2c2, 2012-11-17 (annotated)

Committer:
jksoft
Date:
Sat Nov 17 13:22:00 2012 +0000
Revision:
0:269589d8d2c2
Test Program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:269589d8d2c2 1 /**
jksoft 0:269589d8d2c2 2 * Motor Driver TB6612 Control Library
jksoft 0:269589d8d2c2 3 *
jksoft 0:269589d8d2c2 4 * -- TB6612 is a device of the TOSHIBA.
jksoft 0:269589d8d2c2 5 *
jksoft 0:269589d8d2c2 6 * Copyright (C) 2012 Junichi Katsu (JKSOFT)
jksoft 0:269589d8d2c2 7 */
jksoft 0:269589d8d2c2 8
jksoft 0:269589d8d2c2 9
jksoft 0:269589d8d2c2 10 #include "TB6612.h"
jksoft 0:269589d8d2c2 11
jksoft 0:269589d8d2c2 12 // TB6612 Class Constructor
jksoft 0:269589d8d2c2 13 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
jksoft 0:269589d8d2c2 14 _pwm(pwm), _fwd(fwd), _rev(rev) {
jksoft 0:269589d8d2c2 15
jksoft 0:269589d8d2c2 16 _fwd = 0;
jksoft 0:269589d8d2c2 17 _rev = 0;
jksoft 0:269589d8d2c2 18 _pwm = 0.0;
jksoft 0:269589d8d2c2 19 _pwm.period(0.001);
jksoft 0:269589d8d2c2 20 }
jksoft 0:269589d8d2c2 21
jksoft 0:269589d8d2c2 22 // Speed Control
jksoft 0:269589d8d2c2 23 // arg
jksoft 0:269589d8d2c2 24 // int speed -100 -- 0 -- 100
jksoft 0:269589d8d2c2 25 void TB6612::speed(int speed) {
jksoft 0:269589d8d2c2 26
jksoft 0:269589d8d2c2 27 if( speed > 0 )
jksoft 0:269589d8d2c2 28 {
jksoft 0:269589d8d2c2 29 _pwm = ((float)speed) / 100.0;
jksoft 0:269589d8d2c2 30 _fwd = 1;
jksoft 0:269589d8d2c2 31 _rev = 0;
jksoft 0:269589d8d2c2 32 }
jksoft 0:269589d8d2c2 33 else if( speed < 0 )
jksoft 0:269589d8d2c2 34 {
jksoft 0:269589d8d2c2 35 _pwm = -((float)speed) / 100.0;
jksoft 0:269589d8d2c2 36 _fwd = 0;
jksoft 0:269589d8d2c2 37 _rev = 1;
jksoft 0:269589d8d2c2 38 }
jksoft 0:269589d8d2c2 39 else
jksoft 0:269589d8d2c2 40 {
jksoft 0:269589d8d2c2 41 _fwd = 1;
jksoft 0:269589d8d2c2 42 _rev = 1;
jksoft 0:269589d8d2c2 43 }
jksoft 0:269589d8d2c2 44 }
jksoft 0:269589d8d2c2 45
jksoft 0:269589d8d2c2 46
jksoft 0:269589d8d2c2 47 // Speed Control with time-out
jksoft 0:269589d8d2c2 48 // arg
jksoft 0:269589d8d2c2 49 // int speed -100 -- 0 -- 100
jksoft 0:269589d8d2c2 50 // int time 0
jksoft 0:269589d8d2c2 51 void TB6612::move(int sspeed , int time)
jksoft 0:269589d8d2c2 52 {
jksoft 0:269589d8d2c2 53 speed(sspeed);
jksoft 0:269589d8d2c2 54 wait_ms(time);
jksoft 0:269589d8d2c2 55 }