Junichi Katsu / Mbed 2 deprecated WallbotR4_BTLE

うおーるぼっとをiPhoneでコントロールするプログラムです。 iPhoneとはBTLEで接続しています。

Dependencies:   FatFileSystem HighSpeedAnalogIn TB6612FNG2 mbed

TB6612FNG2/TB6612.cpp@0:373bcb197dc8, 2013-05-10 (annotated)

Committer:
jksoft
Date:
Fri May 10 11:48:07 2013 +0000
Revision:
0:373bcb197dc8
?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:373bcb197dc8 1 /**
jksoft 0:373bcb197dc8 2 * Motor Driver TB6612 Control Library
jksoft 0:373bcb197dc8 3 *
jksoft 0:373bcb197dc8 4 * -- TB6612 is a device of the TOSHIBA.
jksoft 0:373bcb197dc8 5 *
jksoft 0:373bcb197dc8 6 * Copyright (C) 2012 Junichi Katsu (JKSOFT)
jksoft 0:373bcb197dc8 7 */
jksoft 0:373bcb197dc8 8
jksoft 0:373bcb197dc8 9
jksoft 0:373bcb197dc8 10 #include "TB6612.h"
jksoft 0:373bcb197dc8 11
jksoft 0:373bcb197dc8 12 // TB6612 Class Constructor
jksoft 0:373bcb197dc8 13 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
jksoft 0:373bcb197dc8 14 _pwm(pwm), _fwd(fwd), _rev(rev) {
jksoft 0:373bcb197dc8 15
jksoft 0:373bcb197dc8 16 _fwd = 0;
jksoft 0:373bcb197dc8 17 _rev = 0;
jksoft 0:373bcb197dc8 18 _pwm = 0.0;
jksoft 0:373bcb197dc8 19 _pwm.period(0.001);
jksoft 0:373bcb197dc8 20 }
jksoft 0:373bcb197dc8 21
jksoft 0:373bcb197dc8 22 // Speed Control
jksoft 0:373bcb197dc8 23 // arg
jksoft 0:373bcb197dc8 24 // int speed -100 -- 0 -- 100
jksoft 0:373bcb197dc8 25 void TB6612::speed(int speed) {
jksoft 0:373bcb197dc8 26
jksoft 0:373bcb197dc8 27 if( speed > 0 )
jksoft 0:373bcb197dc8 28 {
jksoft 0:373bcb197dc8 29 _pwm = ((float)speed) / 100.0;
jksoft 0:373bcb197dc8 30 _fwd = 1;
jksoft 0:373bcb197dc8 31 _rev = 0;
jksoft 0:373bcb197dc8 32 }
jksoft 0:373bcb197dc8 33 else if( speed < 0 )
jksoft 0:373bcb197dc8 34 {
jksoft 0:373bcb197dc8 35 _pwm = -((float)speed) / 100.0;
jksoft 0:373bcb197dc8 36 _fwd = 0;
jksoft 0:373bcb197dc8 37 _rev = 1;
jksoft 0:373bcb197dc8 38 }
jksoft 0:373bcb197dc8 39 else
jksoft 0:373bcb197dc8 40 {
jksoft 0:373bcb197dc8 41 _fwd = 1;
jksoft 0:373bcb197dc8 42 _rev = 1;
jksoft 0:373bcb197dc8 43 }
jksoft 0:373bcb197dc8 44 }
jksoft 0:373bcb197dc8 45
jksoft 0:373bcb197dc8 46
jksoft 0:373bcb197dc8 47 // Speed Control with time-out
jksoft 0:373bcb197dc8 48 // arg
jksoft 0:373bcb197dc8 49 // int speed -100 -- 0 -- 100
jksoft 0:373bcb197dc8 50 // int time 0
jksoft 0:373bcb197dc8 51 void TB6612::move(int sspeed , int time)
jksoft 0:373bcb197dc8 52 {
jksoft 0:373bcb197dc8 53 speed(sspeed);
jksoft 0:373bcb197dc8 54 wait_ms(time);
jksoft 0:373bcb197dc8 55 }