TB6612FNG driver

A library for TB6612FNG chips. It is written in C++ and designed for working with [ESP32] microcontroller [esp-idf] framework. C++ library implementation of the TB6612FNG IC to be used on the ESP-IDF environment with an ESP-32 micro-controller.

This library currently only supports DC motors connected to the TB6612FNG chip.

Installation

To add this component to your project, you can either:

Clone to your project

Clone it right into your project components directory with the following command.

git clone https://github.com/igorSouzaA/esp32-tb6612fng.git

And add the following line to your project's 'main' CmakeLists.txt:

set(COMPONENT_REQUIRES TB6612FNG)

This way you can easily update the library with git pull whenever a update is available.

Clone outside of your project

Clone it anywhere you want in your system with the following command.

git clone https://github.com/igorSouzaA/esp32-tb6612fng.git

And include the following line to your project's top-level CMakeLists.txt:

set(EXTRA_COMPONENT_DIRS "Insert/Your/Full/Path/Here")

Remember to change the path to where you cloned this repository.

And also add the following line to your project's 'main' CmakeLists.txt:

set(COMPONENT_REQUIRES TB6612FNG)

This way, instead of updating each instance of this repository amongst your projects, you can simply update one main instance that will trickle down to every project that uses it.

Usage

First of all, make sure TB6612FNG driver is a component in your project.

Now, in your source code, include the TB6612FNG main header TB6612FNG.hpp

#include "TB6612FNG.hpp"

Initialize the TB6612FNG object and link it with the nested class.

tb6612_t tb6612; 			      // Instantiates the tb6612 object
tb6612.channel_a.set_parent_pointer(&tb6612); // Links the channel objects with
tb6612.channel_b.set_parent_pointer(&tb6612); //  their corresponding tb6612 object

Configure the MCPWM that will be used by the TB6612FNG chip.

tb6612_pwm_config_t pwm_conf;		// Creates a TB6612FNG MCPWM configurations struct
pwm_conf.pwm_freq = 1000;		// Set the MCPWM frequency
pwm_conf.pwm_timer = MCPWM_TIMER_1;	// Set the MCPWM timer
pwm_conf.pwm_unit = MCPWM_UNIT_0;	// Set the MCPWM unit
pwm_conf.pwm_operator = 1;		// Set the MCPWM operator PWM1x
tb6612.tb6612_mcpwm_config(&pwm_conf);	// Configures the MCPWM

Configure the GPIOs that will be used by the TB6612FNG chip.

tb6612.set_standby_pin(GPIO_NUM_25); 	     // Set the Stand-by pin

tb6612_channel_gpio_config_t conf;	     // Creates a TB6612FNG GPIO configurations struct

conf.in1_pin = GPIO_NUM_14;		     // Set the IN1 pin
conf.in2_pin = GPIO_NUM_27;		     // Set the IN2 pin
conf.inverted = 0;			     // Determines if the pins are swapped
conf.pwm_generator = 0;			     // Set the MCPWM generator PWM1A
conf.pwm_pin = GPIO_NUM_12;	 	     // Set the MCPWM pin
tb6612.channel_a.channel_gpio_config(&conf); // Configures the GPIOs for TB6612FNG's Channel A

conf.in1_pin = GPIO_NUM_4;
conf.in2_pin = GPIO_NUM_15;
conf.inverted = 1;
conf.pwm_generator = 1;	 		     // Set the MCPWM generator PWM1B
conf.pwm_pin = GPIO_NUM_16;
tb6612.channel_b.channel_gpio_config(&conf); // Configures the GPIOs for TB6612FNG's Channel B

You are now ready to go.

float duty = 53.2;		// Creates a duty cycle variable

tb6612.channel_a.drive(duty);	// Drives the motor connected to the TB6612FNG's Channel A forwards
tb6612.channel_b.drive(-duty);	// Drives the motor connected to the TB6612FNG's Channel A backwards

The API provides a few other methods to operate the motors. See the source code.