Revision 0:2d64a320d78f, committed 2018-10-02

Comitter:

ateyercheese

Date:

Tue Oct 02 14:36:09 2018 +0000

Child:

1:9d2787060b3e

Commit message:

Initial draft of Arduino Sparkfun port for TB6612 Motor driver

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sparkfun_TB6612.cpp	Tue Oct 02 14:36:09 2018 +0000
@@ -0,0 +1,115 @@
+/******************************************************************************
+TB6612.cpp
+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
+******************************************************************************/
+
+#include "SparkFun_TB6612.h"
+
+Motor::Motor(PinName pwm, PinName dir1, PinName dir2, PinName standby, int offset) : _pwm(pwm), _dir1(dir1), _dir2(dir2), _standby(standby) {
+
+    _offset = offset;
+}
+  
+void Motor::drive(int speed)
+{
+    enable_motor();
+    speed = speed * _offset;
+    if (speed>=0) fwd(speed);
+    else rev(-speed);
+}
+
+void Motor::drive(int speed, int duration)
+{
+  drive(speed);
+  wait_ms(duration);
+}
+
+void Motor::fwd(int speed)
+{
+   _dir1 = 1;
+   _dir2 = 0;
+   _pwm = speed; // NOTE, speed is -255,255 Arduino analog.
+}
+
+void Motor::rev(int speed)
+{
+   _dir1 = 0;
+   _dir2 = 1;
+   _pwm = speed; // NOTE, speed is -255,255 Arduino analog.
+}
+
+void Motor::brake()
+{
+   _dir1 = 1;
+   _dir2 = 1;
+   _pwm = 0.0f; // NOTE, speed is -255,255 Arduino analog.
+}
+
+void Motor::standby()
+{
+    _standby = 0;
+}
+
+void Motor::enable_motor() {
+    _standby = 1;
+}
+
+void forward(Motor motor1, Motor motor2, int speed)
+{
+	motor1.drive(speed);
+	motor2.drive(speed);
+}
+
+void forward(Motor motor1, Motor motor2)
+{
+	motor1.drive(DEFAULTSPEED);
+	motor2.drive(DEFAULTSPEED);
+}
+
+void back(Motor motor1, Motor motor2, int speed)
+{
+	int temp = abs(speed);
+	motor1.drive(-temp);
+	motor2.drive(-temp);
+}
+void back(Motor motor1, Motor motor2)
+{
+	motor1.drive(-DEFAULTSPEED);
+	motor2.drive(-DEFAULTSPEED);
+}
+void left(Motor left, Motor right, int speed)
+{
+	int temp = abs(speed)/2;
+	left.drive(-temp);
+	right.drive(temp);
+	
+}
+
+
+void right(Motor left, Motor right, int speed)
+{
+	int temp = abs(speed)/2;
+	left.drive(temp);
+	right.drive(-temp);
+	
+}
+void brake(Motor motor1, Motor motor2)
+{
+	motor1.brake();
+	motor2.brake();
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sparkfun_TB6612.h	Tue Oct 02 14:36:09 2018 +0000
@@ -0,0 +1,103 @@
+/******************************************************************************
+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
\ No newline at end of file