Release 1.0.0

README.md

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+ESP32 Arduino library for controlling motors using TB6612FNG motor driver.

TB6612FNG.cpp

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+#include "TB6612FNG.h"
+#include <driver/ledc.h>
+
+// TB6612FNG has maximum PWM switching frequency of 100kHz.
+#define DEFAULT_LEDC_FREQ 20000
+#define DEFAULT_LEDC_RANGE LEDC_TIMER_10_BIT
+
+/* ************************************************************************** */
+
+Tb6612fngLedc::Tb6612fngLedc(int pin, int chan, int freq, int range)
+    : pin(pin), chan(chan), freq(freq), range(range), rangeMax((1 << range) - 1) {}
+
+void Tb6612fngLedc::begin() {
+  ledcSetup(chan, freq, range);
+  ledcAttachPin(pin, chan);
+}
+
+void Tb6612fngLedc::write(float value) {
+  const auto v = max(0.0, min(1.0, value));
+  ledcWrite(chan, v * rangeMax);
+}
+
+/* ************************************************************************** */
+
+Tb6612fngMotor::Tb6612fngMotor(int in1, int in2, int pwm)
+    : Tb6612fngMotor(in1, in2, Tb6612fngLedc(pwm, LEDC_CHANNEL_0, DEFAULT_LEDC_FREQ, DEFAULT_LEDC_RANGE)) {}
+
+Tb6612fngMotor::Tb6612fngMotor(int in1, int in2, Tb6612fngLedc ledc) : in1(in1), in2(in2), ledc(ledc) {}
+
+void Tb6612fngMotor::begin() {
+  pinMode(in1, OUTPUT);
+  pinMode(in2, OUTPUT);
+  ledc.begin();
+}
+
+void Tb6612fngMotor::drive(float velocity) {
+  direct(velocity >= 0, velocity <= 0);
+  ledc.write(abs(velocity));
+}
+
+void Tb6612fngMotor::brake() { direct(true, true); }
+
+void Tb6612fngMotor::coast() { direct(false, false); }
+
+void Tb6612fngMotor::direct(bool in1, bool in2) {
+  digitalWrite(this->in1, in1 ? HIGH : LOW);
+  digitalWrite(this->in2, in2 ? HIGH : LOW);
+}
+
+/* ************************************************************************** */
+
+Tb6612fng::Tb6612fng(int standby, int in1A, int in2A, int pwmA)
+    : Tb6612fng(standby, in1A, in2A, Tb6612fngLedc(pwmA, LEDC_CHANNEL_0, DEFAULT_LEDC_FREQ, DEFAULT_LEDC_RANGE)) {}
+
+Tb6612fng::Tb6612fng(int standby, int in1A, int in2A, Tb6612fngLedc pwmA)
+    : Tb6612fng(standby, new Tb6612fngMotor(in1A, in2A, pwmA)) {}
+
+Tb6612fng::Tb6612fng(int standby, Tb6612fngMotor *motorA) : Tb6612fng(standby, motorA, nullptr) {}
+
+Tb6612fng::Tb6612fng(int standby, int in1A, int in2A, int pwmA, int in1B, int in2B, int pwmB)
+    : Tb6612fng(standby, in1A, in2A, Tb6612fngLedc(pwmA, LEDC_CHANNEL_0, DEFAULT_LEDC_FREQ, DEFAULT_LEDC_RANGE), in1B,
+                in2B, Tb6612fngLedc(pwmB, LEDC_CHANNEL_1, DEFAULT_LEDC_FREQ, DEFAULT_LEDC_RANGE)) {}
+
+Tb6612fng::Tb6612fng(int standby, int in1A, int in2A, Tb6612fngLedc pwmA, int in1B, int in2B, Tb6612fngLedc pwmB)
+    : Tb6612fng(standby, new Tb6612fngMotor(in1A, in2A, pwmA), new Tb6612fngMotor(in1B, in2B, pwmB)) {}
+
+Tb6612fng::Tb6612fng(int standby, Tb6612fngMotor *motorA, Tb6612fngMotor *motorB)
+    : standby(standby), motorA(motorA), motorB(motorB) {}
+
+Tb6612fng::~Tb6612fng() {
+  if (motorA)
+    delete motorA;
+  if (motorB)
+    delete motorB;
+}
+
+void Tb6612fng::begin() {
+  pinMode(standby, OUTPUT);
+  if (motorA)
+    motorA->begin();
+  if (motorB)
+    motorB->begin();
+  enable(true);
+}
+
+void Tb6612fng::enable(bool value) { digitalWrite(standby, value ? HIGH : LOW); }
+
+void Tb6612fng::drive(float velocityA, float velocityB, int duration, bool stop) {
+  if (motorA)
+    motorA->drive(velocityA);
+  if (motorB)
+    motorB->drive(velocityB);
+  if (duration) {
+    delay(duration);
+    if (stop)
+      brake();
+  }
+}
+
+void Tb6612fng::brake() {
+  if (motorA)
+    motorA->brake();
+  if (motorB)
+    motorB->brake();
+}
+
+void Tb6612fng::coast() {
+  if (motorA)
+    motorA->coast();
+  if (motorB)
+    motorB->coast();
+}
+
+/* ************************************************************************** */

TB6612FNG.h

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+#pragma once
+
+#include <Arduino.h>
+
+/* ************************************************************************** */
+
+class Tb6612fngLedc {
+public:
+  Tb6612fngLedc(int pin, int chan, int freq, int range);
+  void begin();
+  void write(float value);
+
+private:
+  int pin, chan, freq, range, rangeMax;
+};
+
+/* ************************************************************************** */
+
+class Tb6612fngMotor {
+public:
+  Tb6612fngMotor(int in1, int in2, int pwm);
+  Tb6612fngMotor(int in1, int in2, Tb6612fngLedc ledc);
+  void begin();
+
+  // Velocity: -1.0..+1.0. Motor duty cycle with positive/negative direction.
+  void drive(float velocity);
+
+  // Braking enables low resistance circuit across the motor coil (short).
+  void brake();
+
+  // Coasting enables high resistance circuit across the motor coil (standby).
+  void coast();
+
+protected:
+  void direct(bool in1, bool in2);
+
+private:
+  int in1, in2;
+  Tb6612fngLedc ledc;
+};
+
+/* ************************************************************************** */
+
+class Tb6612fng {
+public:
+  Tb6612fng(int standby, int in1A, int in2A, int pwmA);
+  Tb6612fng(int standby, int in1A, int in2A, Tb6612fngLedc pwmA);
+  Tb6612fng(int standby, Tb6612fngMotor *motorA);
+  Tb6612fng(int standby, int in1A, int in2A, int pwmA, int in1B, int in2B, int pwmB);
+  Tb6612fng(int standby, int in1A, int in2A, Tb6612fngLedc pwmA, int in1B, int in2B, Tb6612fngLedc pwmB);
+  Tb6612fng(int standby, Tb6612fngMotor *motorA, Tb6612fngMotor *motorB);
+  ~Tb6612fng();
+  void begin();
+
+  Tb6612fngMotor &getA() { return *motorA; }
+  Tb6612fngMotor &getB() { return *motorB; }
+  void enable(bool value);
+
+  // Velocity: -1.0..+1.0. Motor duty cycle with positive/negative direction.
+  // Duration: a delay of ms after setting motor speed.
+  // Stop: Braking after a delay.
+  void drive(float velocity, int duration = 0, bool stop = true) { drive(velocity, velocity, duration, stop); }
+  void drive(float velocityA, float velocityB, int duration = 0, bool stop = true);
+
+  // Braking enables low resistance circuit across the motor coil (short).
+  void brake();
+
+  // Coasting enables high resistance circuit across the motor coil (standby).
+  void coast();
+
+private:
+  int standby;
+  Tb6612fngMotor *motorA, *motorB;
+};

examples/SingleMotor/SingleMotor.ino

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+#include <TB6612FNG.h>
+
+// 27 - Standby pin
+// 14 - AIN1 pin
+// 12 - AIN2 pin
+// 13 - PWMA pin
+// To reverse forward motor direction, switch the AIN1 and AIN2 pin numbers.
+Tb6612fng motor(27, 14, 12, 13);
+// Tb6612fng motor(27, 12, 14, 13); // Reversed forward motor direction.
+
+void setup() {
+  Serial.begin(115200);
+  motor.begin();
+}
+
+void loop() {
+  Serial.printf("Loop: %d\n", millis());
+  // 500ms forwards
+  motor.drive(0.5, 500);
+  // 500ms backwards
+  motor.drive(-0.5, 500);
+  // Full range of motor speed
+  for (auto i = 1; i <= 10; i += 1) {
+    motor.drive(0.1 * i, 200, false);
+  }
+  motor.brake();
+  delay(1000);
+}

examples/TwoMotors/TwoMotors.ino

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+#include <TB6612FNG.h>
+
+// 27 - Standby pin
+// 14 - AIN1 pin
+// 12 - AIN2 pin
+// 13 - PWMA pin
+// 26 - BIN1 pin
+// 25 - BIN2 pin
+// 33 - PWMB pin
+// These pins are in a straight line on the left side of WEMOS LOLIN32 board (skip 34 and 35 as they are input-only).
+// To reverse forward motor direction, switch the AIN1 and AIN2 or BIN1 and BIN2 pin numbers.
+Tb6612fng motors(27, 14, 12, 13, 26, 25, 33);
+// Tb6612fng motors(27, 12, 14, 13, 25, 26, 33); // Reversed forward motor direction.
+
+void setup() {
+  Serial.begin(115200);
+  motors.begin();
+}
+
+void loop() {
+  Serial.printf("Loop: %d\n", millis());
+  // 500ms forwards
+  motors.drive(0.5, 500);
+  // 500ms backwards
+  motors.drive(-0.5, 500);
+  // 500ms left
+  motors.drive(-1.0, 1.0, 500);
+  // 500ms right
+  motors.drive(1.0, -1.0, 500);
+  delay(1000);
+}

library.properties

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+name=ESP32-Arduino-TB6612FNG
+version=1.0.0
+author=vincasmiliunas
+maintainer=vincasmiliunas
+sentence=TB6612FNG for ESP32 Arduino
+paragraph=TB6612FNG motor driver library for ESP32 Arduino
+category=Device Control
+url=https://github.com/vincasmiliunas/ESP32-Arduino-TB6612FNG
+architectures=*