File content as of revision 1:9d2787060b3e:

/******************************************************************************
SparkFun_TB6612.h
TB6612FNG H-Bridge Motor Driver Example code
Michelle @ SparkFun Electronics
8/20/16
https://github.com/sparkfun/SparkFun_TB6612FNG_Arduino_Library

Uses 2 motors to show examples of the functions in the library.  This causes
a robot to do a little 'jig'.  Each movement has an equal and opposite movement
so assuming your motors are balanced the bot should end up at the same place it
started.

Resources:
TB6612 SparkFun Library

Development environment specifics:
Developed on Arduino 1.6.4
Developed with ROB-9457
******************************************************************************/


#ifndef SPARKFUN_TB6612_h
#define SPARKFUN_TB6612_h

#include "mbed.h"

//used in some functions so you don't have to send a speed
#define DEFAULTSPEED 255  



class Motor
{
  public:
    // Constructor. Mainly sets up pins.
    Motor(PinName pwm, PinName dir1, PinName dir2, PinName standby, int offset = 1);      

    // Drive in direction given by sign, at speed given by magnitude of the 
	//parameter.
    void drive(int speed);  
	
	// drive(), but with a delay(duration)
    void drive(int speed, int duration);  
	
	//currently not implemented
    //void stop();           // Stop motors, but allow them to coast to a halt.
    //void coast();          // Stop motors, but allow them to coast to a halt.
	
	//Stops motor by setting both input pins high
    void brake(); 
	
	//set the chip to standby mode.  The drive function takes it out of standby 
	//(forward, back, left, and right all call drive)
	void standby();	

    // Turn off Standby
    void enable_motor();
	
  private:
    //variables for the 2 inputs, PWM input, Offset value, and the Standby pin
	PwmOut _pwm;
    DigitalOut _dir1, _dir2, _standby;
	int _offset;

	//private functions that spin the motor CC and CCW
	void fwd(int speed);
	void rev(int speed);


};

//Takes 2 motors and goes forward, if it does not go forward adjust offset 
//values until it does.  These will also take a negative number and go backwards
//There is also an optional speed input, if speed is not used, the function will
//use the DEFAULTSPEED constant.
void forward(Motor motor1, Motor motor2, int speed);
void forward(Motor motor1, Motor motor2);

//Similar to forward, will take 2 motors and go backwards.  This will take either
//a positive or negative number and will go backwards either way.  Once again the
//speed input is optional and will use DEFAULTSPEED if it is not defined.
void back(Motor motor1, Motor motor2, int speed);
void back(Motor motor1, Motor motor2);

//Left and right take 2 motors, and it is important the order they are sent.
//The left motor should be on the left side of the bot.  These functions
//also take a speed value
void left(Motor left, Motor right, int speed);
void right(Motor left, Motor right, int speed);

//This function takes 2 motors and and brakes them
void brake(Motor motor1, Motor motor2);










#endif