Package com.diozero.devices.motor

Class TB6612FNGMotor

java.lang.Object

com.diozero.devices.motor.MotorBase

com.diozero.devices.motor.TB6612FNGMotor

All Implemented Interfaces:

DeviceInterface, MotorInterface, AutoCloseable

public class TB6612FNGMotor
extends MotorBase

Bi-directional motor controlled by a single PWM pin and separate forward / backward GPIO pins. Toshiba TB6612FNG Dual Motor Driver such as this one from Pololu.

Turn forward

Set motor forward control pin (AIN1) to HIGH, motor backward control pin (AIN2) to LOW, and PWMA to >0.

Turn backward

Set motor forward control pin (AIN1) to LOW, motor backward control pin (AIN2) to HIGH, PWMA to >0.

Constructor Summary

Constructors

Constructor	Description
TB6612FNGMotor(DigitalOutputDevice motorForwardControlPin, DigitalOutputDevice motorBackwardControlPin, PwmOutputDevice motorPwmControl)

Method Summary

Modifier and Type	Method	Description
void	backward(float speed)	Set the motor direction to backward at the given speed.
void	close()	Close this device
void	forward(float speed)	Set the motor direction to forward at the given speed.
float	getValue()	Get the relative output speed of the motor in the range -1..1
boolean	isActive()	Is this motor currently active?
void	stop()	Stop the motor

Methods inherited from class com.diozero.devices.motor.MotorBase

addListener, removeListener, valueChanged, whenBackward, whenForward, whenStop

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.diozero.devices.motor.MotorInterface

backward, forward, reverseDirection, setValue

Constructor Detail

TB6612FNGMotor

public TB6612FNGMotor(DigitalOutputDevice motorForwardControlPin,
                      DigitalOutputDevice motorBackwardControlPin,
                      PwmOutputDevice motorPwmControl)

Method Detail

close

public void close()

Description copied from interface: DeviceInterface

Close this device

forward

public void forward(float speed)
             throws RuntimeIOException

Description copied from interface: MotorInterface

Set the motor direction to forward at the given speed.

Parameters:

speed - normalised speed value, range 0..1

Throws:

RuntimeIOException - if an I/O error occurs

backward

public void backward(float speed)
              throws RuntimeIOException

Description copied from interface: MotorInterface

Set the motor direction to backward at the given speed.

Parameters:

speed - normalised speed value, range 0..1

Throws:

RuntimeIOException - if an I/O error occurs

stop

public void stop()
          throws RuntimeIOException

Description copied from interface: MotorInterface

Stop the motor

Throws:

RuntimeIOException - if an I/O error occurs

getValue

public float getValue()
               throws RuntimeIOException

Description copied from interface: MotorInterface

Get the relative output speed of the motor in the range -1..1

Returns:

-1 for full reverse, 1 for full forward, 0 for stop

Throws:

RuntimeIOException - if an I/O error occurs

isActive

public boolean isActive()
                 throws RuntimeIOException

Description copied from interface: MotorInterface

Is this motor currently active?

Returns:

true if speed != 0

Throws:

RuntimeIOException - if an I/O error occurs