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package com.diozero.devices.sandpit;
/*
* #%L
* Organisation: diozero
* Project: Device I/O Zero - Core
* Filename: TB6612FNGDualMotorDriver.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2020 diozero
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* THE SOFTWARE.
* #L%
*/
import com.diozero.api.DigitalOutputDevice;
import com.diozero.api.PwmOutputDevice;
import com.diozero.api.motor.DualMotor;
import com.diozero.internal.provider.PwmOutputDeviceFactoryInterface;
import com.diozero.util.RuntimeIOException;
/**
* Dual 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: https://www.pololu.com/product/713
*/
@SuppressWarnings("resource")
public class TB6612FNGDualMotorDriver extends DualMotor {
public TB6612FNGDualMotorDriver(int leftMotorClockwiseControlGpio, int leftMotorCounterClockwiseControlGpio,
int leftMotorPwmGpio,
int rightMotorClockwiseControlGpio,int rightMotorCounterClockwiseControlGpio,
int rightMotorPwmGpio) throws RuntimeIOException {
this(new DigitalOutputDevice(leftMotorClockwiseControlGpio),
new DigitalOutputDevice(leftMotorCounterClockwiseControlGpio),
new PwmOutputDevice(leftMotorPwmGpio),
new DigitalOutputDevice(rightMotorClockwiseControlGpio),
new DigitalOutputDevice(rightMotorCounterClockwiseControlGpio),
new PwmOutputDevice(rightMotorPwmGpio));
}
public TB6612FNGDualMotorDriver(PwmOutputDeviceFactoryInterface pwmDeviceFactory,
int leftMotorClockwiseControlGpio, int leftMotorCounterClockwiseControlGpio,
int leftMotorPwmGpio,
int rightMotorClockwiseControlGpio,int rightMotorCounterClockwiseControlGpio,
int rightMotorPwmGpio) throws RuntimeIOException {
this(new DigitalOutputDevice(leftMotorClockwiseControlGpio),
new DigitalOutputDevice(leftMotorCounterClockwiseControlGpio),
new PwmOutputDevice(pwmDeviceFactory, leftMotorPwmGpio, 0),
new DigitalOutputDevice(rightMotorClockwiseControlGpio),
new DigitalOutputDevice(rightMotorCounterClockwiseControlGpio),
new PwmOutputDevice(pwmDeviceFactory, rightMotorPwmGpio, 0));
}
public TB6612FNGDualMotorDriver(
DigitalOutputDevice leftMotorClockwiseControlPin, DigitalOutputDevice leftMotorCounterClockwiseControlPin,
PwmOutputDevice leftMotorPwmControl,
DigitalOutputDevice rightMotorClockwiseControlPin, DigitalOutputDevice rightMotorCounterClockwiseControlPin,
PwmOutputDevice rightMotorPwmControl) {
super(
new TB6612FNGMotor(leftMotorClockwiseControlPin,
leftMotorCounterClockwiseControlPin, leftMotorPwmControl),
new TB6612FNGMotor(rightMotorClockwiseControlPin,
rightMotorCounterClockwiseControlPin, rightMotorPwmControl));
}
}
