Struct tb6612fng::Tb6612fng

pub struct Tb6612fng<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY> {
    pub motor_a: Motor<MAIN1, MAIN2, MAPWM>,
    pub motor_b: Motor<MBIN1, MBIN2, MBPWM>,
    /* private fields */
}

Represents a TB6612FNG controller.

Use the Motor struct directly if you only have one motor. See the crate-level comment for further details on when to use what.

Fields

motor_a: Motor<MAIN1, MAIN2, MAPWM>

The first motor, labelled as ‘A’ on the chip

motor_b: Motor<MBIN1, MBIN2, MBPWM>

The second motor, labelled as ‘B’ on the chip

Implementations

impl<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY> Tb6612fng<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY>where
    MAIN1: OutputPin,
    MAIN2: OutputPin,
    MAPWM: PwmPin<Duty = u16>,
    MBIN1: OutputPin,
    MBIN2: OutputPin,
    MBPWM: PwmPin<Duty = u16>,
    STBY: OutputPin,

pub fn new(
    motor_a_in1: MAIN1,
    motor_a_in2: MAIN2,
    motor_a_pwm: MAPWM,
    motor_b_in1: MBIN1,
    motor_b_in2: MBIN2,
    motor_b_pwm: MBPWM,
    standby: STBY
) -> Tb6612fng<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY>

Instantiate a new Tb6612fng with the defined pins. This also automatically enables the two PWM pins. The initial state of the motors will be stopped.

Usage example:

use tb6612fng::Tb6612fng;

let controller = Tb6612fng::new(
    motor_a_in1,
    motor_a_in2,
    motor_a_pwm,
    motor_b_in1,
    motor_b_in2,
    motor_b_pwm,
    standby,
);

pub fn enable_standby(&mut self)

Enable standby. This ignores any other setting currently done on the motors and puts them into standby.

Note that this does not change any commands on the motors, i.e. the PWM signal will continue and once Tb6612fng::disable_standby is called the motor will pick up where it left off (unless the command was changed in-between).

pub fn disable_standby(&mut self)

Disable standby. Note that the last active commands on the motors will resume.

Trait Implementations

impl<MAIN1: Debug, MAIN2: Debug, MAPWM: Debug, MBIN1: Debug, MBIN2: Debug, MBPWM: Debug, STBY: Debug> Debug for Tb6612fng<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY> Format for Tb6612fng<MAIN1, MAIN2, MAPWM, MBIN1, MBIN2, MBPWM, STBY>where
    MAIN1: Format,
    MAIN2: Format,
    MAPWM: Format,
    MBIN1: Format,
    MBIN2: Format,
    MBPWM: Format,
    STBY: Format,

fn format(&self, f: Formatter<'_>)

Writes the defmt representation of self to fmt.