TB6612.cpp

00001 /**
00002  * Motor Driver TB6612 Control Library
00003  *
00004  * -- TB6612 is a device of the TOSHIBA. 
00005  *
00006  * Copyright (C) 2012 Junichi Katsu (JKSOFT) 
00007  */
00008 
00009 
00010 #include "TB6612.h"
00011 
00012 // TB6612 Class Constructor
00013 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
00014         _pwm(pwm), _fwd(fwd), _rev(rev) {
00015 
00016     _fwd = 0;
00017     _rev = 0;
00018     _pwm = 0.0;
00019     _pwm.period(0.001);
00020 }
00021 
00022 // Speed Control
00023 //  arg
00024 //   int speed -100 -- 0 -- 100
00025 void TB6612::speed(int speed) {
00026         
00027     if( speed > 0 )
00028     {
00029         _pwm = ((float)speed) / 100.0;
00030         _fwd = 1;
00031         _rev = 0;
00032     }
00033     else if( speed < 0 )
00034     {
00035         _pwm = -((float)speed) / 100.0;
00036         _fwd = 0;
00037         _rev = 1;
00038     }
00039     else
00040     {
00041         _fwd = 1;
00042         _rev = 1;
00043     }
00044 }
00045 
00046 
00047 // Speed Control with time-out
00048 //  arg
00049 //   int speed -100 -- 0 -- 100
00050 //   int time  0
00051 void TB6612::move(int sspeed , int time)
00052 {
00053     speed(sspeed);
00054     wait_ms(time);
00055 }