Passer::RoboidControl::TB6612Motor Class Reference

A single port of the TB6612 motor controller. More...

#include <TB6612.h>

Inheritance diagram for Passer::RoboidControl::TB6612Motor:

Public Types
enum class	Direction { Clockwise = 1 , CounterClockwise = -1 }
	Motor turning direction. More...

Public Member Functions
	TB6612Motor ()
	TB6612Motor (byte pinIn1, byte pinIn2)
	Create a motor driver without speed control.
	TB6612Motor (byte pinIn1, byte pinIn2, byte pinPWM)
	Create a motor driver with speed control.
void	SetSpeed (float speed)
	Turning direction of the motor.
virtual float	GetSpeed ()
	Get the current target speed of the motor.
bool	IsMotor ()
	Check if the Thing is a Motor.
bool	IsSensor ()
	Check if the Thing is a Sensor.

Public Attributes
byte	pinIn1
	The pin number for the in1 signal.
byte	pinIn2
	The pin number for the in2 signal.
byte	pinPWM
	The pin for the PWM speed signal.
Direction	direction = Direction::Clockwise
	The forward turning direction of the motor.
unsigned int	type
	The type of Thing.

Static Public Attributes
static const unsigned int	SwitchType = SensorType | (unsigned int)Type::Switch
static const unsigned int	DistanceSensorType
static const unsigned int	ControlledMotorType
static const unsigned int	UncontrolledMotorType

Protected Types
enum class	Type {   Undetermined , Switch , DistanceSensor , ControlledMotor ,   UncontrolledMotor }
	Basic Thing types. More...

Protected Attributes
float	currentTargetSpeed = 0

Static Protected Attributes
static const unsigned int	MotorType = 0x8000
	Bitmask for Motor type.
static const unsigned int	SensorType = 0x4000
	Bitmap for Sensor type.

Detailed Description

A single port of the TB6612 motor controller.

Member Enumeration Documentation

Direction

enum class Passer::RoboidControl::Motor::Direction

stronginherited

Motor turning direction.

Enumerator
Clockwise
CounterClockwise

Type

enum class Passer::RoboidControl::Thing::Type

strongprotectedinherited

Basic Thing types.

Enumerator
Undetermined
Switch
DistanceSensor
ControlledMotor
UncontrolledMotor

Constructor & Destructor Documentation

TB6612Motor() [1/3]

TB6612Motor::TB6612Motor

(

)

TB6612Motor() [2/3]

TB6612Motor::TB6612Motor	(	byte	pinIn1,
		byte	pinIn2
	)

Create a motor driver without speed control.

Parameters

pinIn1	See note below
pinIn2	See note below

Note

pinIn1 = H, pinIn2 = L give clockwise rotation

pinIn1 = L, pinIn2 = H gives counter clock wise rotation

all other combinations will result in a short brake

Warning

- Note that without PWM, the speed of the motor cannot be controlled.

- Make sure the standby pin is pulled high.

TB6612Motor() [3/3]

TB6612Motor::TB6612Motor	(	byte	pinIn1,
		byte	pinIn2,
		byte	pinPWM
	)

Create a motor driver with speed control.

Parameters

pinIn1	See note below
pinIn2	See note below
pinPWM	the speed of the rotation, 0 = short break, 255 = max speed

Note

pinIn1 = H, pinIn2 = L give clockwise rotation

pinIn1 = L, pinIn2 = H gives counter clock wise rotation

all other combinations will result in a short brake

Warning

- Make sure the standby pin is pulled high.

Member Function Documentation

SetSpeed()

void TB6612Motor::SetSpeed ( float  speed )

virtual

Turning direction of the motor.

Set the turning direction of the motor

Reimplemented from Passer::RoboidControl::Motor.

GetSpeed()

float Motor::GetSpeed ( )

virtualinherited

Get the current target speed of the motor.

Returns

The speed between -1 (full backward), 0 (stop) and 1 (full forward)

IsMotor()

bool Thing::IsMotor ( )

inherited

Check if the Thing is a Motor.

Returns

True when the Thing is a Motor and False otherwise

IsSensor()

bool Thing::IsSensor ( )

inherited

Check if the Thing is a Sensor.

Returns

True when the Thing is a Sensor and False otherwise

Member Data Documentation

pinIn1

byte Passer::RoboidControl::TB6612Motor::pinIn1

The pin number for the in1 signal.

pinIn2

byte Passer::RoboidControl::TB6612Motor::pinIn2

The pin number for the in2 signal.

pinPWM

byte Passer::RoboidControl::TB6612Motor::pinPWM

The pin for the PWM speed signal.

direction

Direction Passer::RoboidControl::Motor::direction = Direction::Clockwise

inherited

The forward turning direction of the motor.

currentTargetSpeed

float Passer::RoboidControl::Motor::currentTargetSpeed = 0

protectedinherited

type

unsigned int Passer::RoboidControl::Thing::type

inherited

The type of Thing.

SwitchType

const unsigned int Thing::SwitchType = SensorType | (unsigned int)Type::Switch

staticinherited

DistanceSensorType

const unsigned int Thing::DistanceSensorType

staticinherited

Initial value:

=
    SensorType | (unsigned int)Type::DistanceSensor

ControlledMotorType

const unsigned int Thing::ControlledMotorType

staticinherited

Initial value:

=
    MotorType | (unsigned int)Type::ControlledMotor

UncontrolledMotorType

const unsigned int Thing::UncontrolledMotorType

staticinherited

Initial value:

=
    MotorType | (unsigned int)Type::UncontrolledMotor

MotorType

const unsigned int Passer::RoboidControl::Thing::MotorType = 0x8000

staticprotectedinherited

Bitmask for Motor type.

SensorType

const unsigned int Passer::RoboidControl::Thing::SensorType = 0x4000

staticprotectedinherited

Bitmap for Sensor type.

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The documentation for this class was generated from the following files:

• d:/PlatformIO/RoboidControlArduino/src/TB6612.h
• d:/PlatformIO/RoboidControlArduino/src/TB6612.cpp