Diff: BD6211F.cpp

Revision:

0:e27bf165308f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6211F.cpp	Wed Apr 27 02:51:14 2011 +0000
@@ -0,0 +1,68 @@
+/**
+ * Motor Driver BD6211F Control Library
+ *
+ * -- BD6211F is a device of the rohm. 
+ *
+ * Copyright (C) 2011 Junichi Katsu (JKSOFT) 
+ */
+
+
+#include "BD6211F.h"
+
+// BD6211F Class Constructor
+BD6211F::BD6211F(PinName fwd, PinName rev):
+        _fwd(fwd), _rev(rev) {
+
+    _fwd.period(0.00005);
+    _rev.period(0.00005);
+    _fwd = 0.0;
+    _rev = 0.0;
+    bspeed = 0.0;
+    timer_flag = false;
+}
+
+// Speed Control
+//  arg
+//   float speed�F-1.0 �` 0.0 �` 1.0
+void BD6211F::speed(float speed) {
+    
+    if( timer_flag == true )    return;
+    
+    bspeed = speed;
+    
+    if( speed > 0.0 )
+    {
+        _fwd = speed;
+        _rev = 0.0;
+    }
+    else if( speed < 0.0 )
+    {
+        _fwd = 0.0;
+        _rev = -speed;
+    }
+    else
+    {
+        _fwd = 1.0;
+        _rev = 1.0;
+    }
+}
+
+
+// Speed Control with time-out
+//  arg
+//   float sspeed:-1.0 &#65533;` 0.0 &#65533;` 1.0
+//   float time  :0.0&#65533;`
+void BD6211F::move(float sspeed , float time)
+{
+    speed(sspeed);
+    timer_flag = true;
+    timer.attach(this,&BD6211F::timeout,time);
+}
+
+
+void BD6211F::timeout()
+{
+    timer_flag = false;
+    speed(bspeed);
+}
+