@zaowu357/lib-tb6612 1.0.0

package/ABIBAK_toolbox.json

@@ -0,0 +1,33 @@
+[
+  {
+    "kind": "category",
+    "name": "TB6612",
+    "colour": "#FF6600",
+    "icon": "iconfont icon-motor",
+    "contents": [
+      {"kind": "label", "text": "初始化"},
+      {
+        "kind": "block",
+        "type": "tb6612_init",
+        "fields": {"VAR": "motor1"}
+      },
+      {"kind": "label", "text": "运动控制"},
+      {
+        "kind": "block",
+        "type": "tb6612_forward",
+        "inputs": {
+          "SPEED": {"shadow": {"type": "math_number", "fields": {"NUM": "200"}}}
+        }
+      },
+      {
+        "kind": "block",
+        "type": "tb6612_backward",
+        "inputs": {
+          "SPEED": {"shadow": {"type": "math_number", "fields": {"NUM": "200"}}}
+        }
+      },
+      {"kind": "block", "type": "tb6612_stop"},
+      {"kind": "block", "type": "tb6612_brake"}
+    ]
+  }
+]

package/block.json

@@ -0,0 +1,130 @@
+[
+  {
+    "type": "tb6612_init",
+    "message0": "init TB6612 motor %1 IN1 %2 IN2 %3 PWM %4 STBY %5",
+    "args0": [
+      {
+        "type": "field_input",
+        "name": "VAR",
+        "text": "motor1"
+      },
+      {
+        "type": "field_dropdown",
+        "name": "IN1",
+        "options": "${board.digitalPins}"
+      },
+      {
+        "type": "field_dropdown",
+        "name": "IN2",
+        "options": "${board.digitalPins}"
+      },
+      {
+        "type": "field_dropdown",
+        "name": "PWM",
+        "options": "${board.digitalPins}"
+      },
+      {
+        "type": "field_dropdown",
+        "name": "STBY",
+        "options": "${board.digitalPins}"
+      }
+    ],
+    "previousStatement": null,
+    "nextStatement": null,
+    "colour": "#FF6600",
+    "tooltip": "Initialize a TB6612 motor driver channel with IN1, IN2, PWM and STBY pins"
+  },
+  {
+    "type": "tb6612_stby",
+    "message0": "TB6612 standby %1",
+    "args0": [
+      {
+        "type": "field_dropdown",
+        "name": "LEVEL",
+        "options": [["enable (HIGH)", "HIGH"], ["disable (LOW)", "LOW"]]
+      }
+    ],
+    "previousStatement": null,
+    "nextStatement": null,
+    "colour": "#FF6600",
+    "tooltip": "Set TB6612 STBY pin HIGH to enable or LOW to disable both motors"
+  },
+  {
+    "type": "tb6612_forward",
+    "message0": "%1 forward speed %2",
+    "args0": [
+      {
+        "type": "field_variable",
+        "name": "VAR",
+        "variable": "motor1",
+        "variableTypes": ["TB6612"],
+        "defaultType": "TB6612"
+      },
+      {
+        "type": "input_value",
+        "name": "SPEED",
+        "check": ["Number"]
+      }
+    ],
+    "previousStatement": null,
+    "nextStatement": null,
+    "colour": "#FF6600",
+    "tooltip": "Run motor forward at the given speed (0-255)"
+  },
+  {
+    "type": "tb6612_backward",
+    "message0": "%1 backward speed %2",
+    "args0": [
+      {
+        "type": "field_variable",
+        "name": "VAR",
+        "variable": "motor1",
+        "variableTypes": ["TB6612"],
+        "defaultType": "TB6612"
+      },
+      {
+        "type": "input_value",
+        "name": "SPEED",
+        "check": ["Number"]
+      }
+    ],
+    "previousStatement": null,
+    "nextStatement": null,
+    "colour": "#FF6600",
+    "tooltip": "Run motor backward at the given speed (0-255)"
+  },
+  {
+    "type": "tb6612_stop",
+    "message0": "%1 stop",
+    "args0": [
+      {
+        "type": "field_variable",
+        "name": "VAR",
+        "variable": "motor1",
+        "variableTypes": ["TB6612"],
+        "defaultType": "TB6612"
+      }
+    ],
+    "previousStatement": null,
+    "nextStatement": null,
+    "colour": "#FF6600",
+    "tooltip": "Stop the motor (free run to stop)"
+  },
+  {
+    "type": "tb6612_brake",
+    "message0": "%1 brake",
+    "args0": [
+      {
+        "type": "field_variable",
+        "name": "VAR",
+        "variable": "motor1",
+        "variableTypes": ["TB6612"],
+        "defaultType": "TB6612"
+      }
+    ],
+    "previousStatement": null,
+    "nextStatement": null,
+    "colour": "#FF6600",
+    "tooltip": "Brake the motor (short brake)"
+  }
+]

package/generator.js

@@ -0,0 +1,71 @@
+Arduino.forBlock['tb6612_init'] = function(block, generator) {
+  // Variable rename listener
+  if (!block._tb6612VarMonitorAttached) {
+    block._tb6612VarMonitorAttached = true;
+    block._tb6612VarLastName = block.getFieldValue('VAR') || 'motor1';
+    registerVariableToBlockly(block._tb6612VarLastName, 'TB6612');
+    const varField = block.getField('VAR');
+    if (varField) {
+      const originalFinishEditing = varField.onFinishEditing_;
+      varField.onFinishEditing_ = function(newName) {
+        if (typeof originalFinishEditing === 'function') {
+          originalFinishEditing.call(this, newName);
+        }
+        const workspace = block.workspace || (typeof Blockly !== 'undefined' && Blockly.getMainWorkspace && Blockly.getMainWorkspace());
+        const oldName = block._tb6612VarLastName;
+        if (workspace && newName && newName !== oldName) {
+          renameVariableInBlockly(block, oldName, newName, 'TB6612');
+          block._tb6612VarLastName = newName;
+        }
+      };
+    }
+  }
+
+  const varName = block.getFieldValue('VAR') || 'motor1';
+  const in1 = block.getFieldValue('IN1');
+  const in2 = block.getFieldValue('IN2');
+  const pwm = block.getFieldValue('PWM');
+  const stby = block.getFieldValue('STBY');
+
+  generator.addLibrary('TB6612', '#include <TB6612.h>');
+  generator.addVariable('tb6612_stby_pin', 'int tb6612_stby_pin = ' + stby + ';');
+  generator.addObject(varName, 'TB6612 ' + varName + '(' + in1 + ', ' + in2 + ', ' + pwm + ', ' + stby + ');');
+
+  let setupCode = varName + '.begin();\n';
+  return setupCode;
+};
+
+Arduino.forBlock['tb6612_stby'] = function(block, generator) {
+  const level = block.getFieldValue('LEVEL') || 'HIGH';
+  return 'digitalWrite(tb6612_stby_pin, ' + level + ');\n';
+};
+
+Arduino.forBlock['tb6612_forward'] = function(block, generator) {
+  const varField = block.getField('VAR');
+  const varName = varField ? varField.getText() : 'motor1';
+  const speed = generator.valueToCode(block, 'SPEED', generator.ORDER_ATOMIC) || '255';
+
+  return varName + '.forward(' + speed + ');\n';
+};
+
+Arduino.forBlock['tb6612_backward'] = function(block, generator) {
+  const varField = block.getField('VAR');
+  const varName = varField ? varField.getText() : 'motor1';
+  const speed = generator.valueToCode(block, 'SPEED', generator.ORDER_ATOMIC) || '255';
+
+  return varName + '.backward(' + speed + ');\n';
+};
+
+Arduino.forBlock['tb6612_stop'] = function(block, generator) {
+  const varField = block.getField('VAR');
+  const varName = varField ? varField.getText() : 'motor1';
+
+  return varName + '.stop();\n';
+};
+
+Arduino.forBlock['tb6612_brake'] = function(block, generator) {
+  const varField = block.getField('VAR');
+  const varName = varField ? varField.getText() : 'motor1';
+
+  return varName + '.brake();\n';
+};

package/package.json

@@ -0,0 +1,16 @@
+{
+  "name": "@zaowu357/lib-tb6612",
+  "nickname": "TB6612 电机驱动",
+  "nickname_zh_cn": "TB6612 电机驱动",
+  "nickname_en": "TB6612 Motor Driver",
+  "description": "TB6612FNG 双路直流电机驱动模块",
+  "version": "1.0.0",
+  "author": "ailyProject",
+  "compatibility": {
+    "core": [],
+    "voltage": [3.3, 5]
+  },
+  "keywords": ["aily", "blockly", "motor", "tb6612", "dc motor"],
+  "tested": false,
+  "url": "https://www.sparkfun.com/products/14450"
+}

package/readme.md

@@ -0,0 +1,27 @@
+# TB6612 电机驱动
+
+TB6612FNG 双路直流电机驱动模块的 Blockly 库。
+
+## Library Info
+
+| Field | Value |
+|-------|-------|
+| Package | @aily-project/lib-tb6612 |
+| Version | 1.0.0 |
+| Author | ailyProject |
+| Source | [SparkFun TB6612FNG](https://www.sparkfun.com/products/14450) |
+| License | MIT |
+
+## Supported Boards
+
+所有支持 Arduino API 的开发板（UNO, Nano, ESP32, ESP8266 等）
+
+## Description
+
+TB6612FNG 是一款双路直流电机驱动芯片，最高支持 15V/1.2A。本库封装了电机初始化、正转、反转、停止和刹车功能，通过 PWM 控制速度（0-255）。
+
+## Quick Start
+
+1. 初始化电机：选择 IN1、IN2、PWM 引脚
+2. 调用 forward/backward 控制方向和速度
+3. 调用 stop 或 brake 停止电机

package/readme_ai.md

@@ -0,0 +1,61 @@
+# TB6612 电机驱动
+
+TB6612FNG 双路直流电机驱动模块。
+
+## Library Info
+- **Name**: @aily-project/lib-tb6612
+- **Version**: 1.0.0
+
+## Block Definitions
+
+| Block Type | Connection | Parameters (args0 order) | ABS Format | Generated Code |
+|------------|------------|--------------------------|------------|----------------|
+| `tb6612_init` | Statement | VAR(field_input), IN1(dropdown), IN2(dropdown), PWM(dropdown) | `tb6612_init("motor1", 5, 6, 9)` | `TB6612 motor1(5, 6, 9);` + `motor1.begin();` |
+| `tb6612_forward` | Statement | VAR(field_variable), SPEED(input_value) | `tb6612_forward($motor1, math_number(200))` | `motor1.forward(200);` |
+| `tb6612_backward` | Statement | VAR(field_variable), SPEED(input_value) | `tb6612_backward($motor1, math_number(200))` | `motor1.backward(200);` |
+| `tb6612_stop` | Statement | VAR(field_variable) | `tb6612_stop($motor1)` | `motor1.stop();` |
+| `tb6612_brake` | Statement | VAR(field_variable) | `tb6612_brake($motor1)` | `motor1.brake();` |
+
+## Parameter Options
+
+| Parameter | Values | Description |
+|-----------|--------|-------------|
+| IN1/IN2/PWM | ${board.digitalPins} | 数字引脚（由开发板配置自动填充） |
+| SPEED | 0-255 | PWM 速度值 |
+
+## ABS Examples
+
+### Basic Usage
+```abs
+arduino_setup()
+    tb6612_init("motor1", 5, 6, 9)
+
+arduino_loop()
+    tb6612_forward($motor1, math_number(200))
+    time_delay(math_number(2000))
+    tb6612_backward($motor1, math_number(200))
+    time_delay(math_number(2000))
+    tb6612_stop($motor1)
+    time_delay(math_number(1000))
+```
+
+### Two Motors (Differential Drive)
+```abs
+arduino_setup()
+    tb6612_init("leftMotor", 5, 6, 9)
+    tb6612_init("rightMotor", 7, 8, 10)
+
+arduino_loop()
+    tb6612_forward($leftMotor, math_number(200))
+    tb6612_forward($rightMotor, math_number(200))
+    time_delay(math_number(1000))
+    tb6612_stop($leftMotor)
+    tb6612_stop($rightMotor)
+```
+
+## Notes
+
+1. **Initialization**: Call `tb6612_init` inside `arduino_setup()`
+2. **Variable reference**: Use `$varName` to reference motor variable in control blocks
+3. **PWM pins**: PWM pin must support analogWrite on your board
+4. **stop vs brake**: `stop` = free run (coast), `brake` = short brake (fast stop)

package/src/tb6612/TB6612.cpp

@@ -0,0 +1,50 @@
+#include "TB6612.h"
+
+TB6612::TB6612(int in1, int in2, int pwm, int stby) {
+  _in1 = in1;
+  _in2 = in2;
+  _pwm = pwm;
+  _stby = stby;
+}
+
+void TB6612::begin() {
+  pinMode(_in1, OUTPUT);
+  pinMode(_in2, OUTPUT);
+  pinMode(_pwm, OUTPUT);
+  if (_stby != -1) {
+    pinMode(_stby, OUTPUT);
+    digitalWrite(_stby, HIGH);
+  }
+}
+
+void TB6612::enable() {
+  if (_stby != -1) digitalWrite(_stby, HIGH);
+}
+
+void TB6612::disable() {
+  if (_stby != -1) digitalWrite(_stby, LOW);
+}
+
+void TB6612::forward(int speed) {
+  digitalWrite(_in1, HIGH);
+  digitalWrite(_in2, LOW);
+  analogWrite(_pwm, speed);
+}
+
+void TB6612::backward(int speed) {
+  digitalWrite(_in1, LOW);
+  digitalWrite(_in2, HIGH);
+  analogWrite(_pwm, speed);
+}
+
+void TB6612::stop() {
+  digitalWrite(_in1, LOW);
+  digitalWrite(_in2, LOW);
+  analogWrite(_pwm, 0);
+}
+
+void TB6612::brake() {
+  digitalWrite(_in1, HIGH);
+  digitalWrite(_in2, HIGH);
+  analogWrite(_pwm, 0);
+}

package/src/tb6612/TB6612.h

@@ -0,0 +1,23 @@
+#ifndef TB6612_h
+#define TB6612_h
+
+#include <Arduino.h>
+
+class TB6612 {
+  public:
+    TB6612(int in1, int in2, int pwm, int stby = -1);
+    void begin();
+    void forward(int speed);
+    void backward(int speed);
+    void stop();
+    void brake();
+    void enable();
+    void disable();
+  private:
+    int _in1;
+    int _in2;
+    int _pwm;
+    int _stby;
+};
+
+#endif

package/toolbox.json

@@ -0,0 +1,37 @@
+{
+  "kind": "category",
+  "name": "TB6612",
+  "colour": "#FF6600",
+  "icon": "fa-solid fa-gear",
+  "contents": [
+    {"kind": "label", "text": "初始化"},
+    {
+      "kind": "block",
+      "type": "tb6612_init",
+      "fields": {"VAR": "motor1"}
+    },
+    {"kind": "label", "text": "运动控制"},
+    {
+      "kind": "block",
+      "type": "tb6612_forward",
+      "inputs": {
+        "SPEED": {"shadow": {"type": "math_number", "fields": {"NUM": "200"}}}
+      }
+    },
+    {
+      "kind": "block",
+      "type": "tb6612_backward",
+      "inputs": {
+        "SPEED": {"shadow": {"type": "math_number", "fields": {"NUM": "200"}}}
+      }
+    },
+    {"kind": "block", "type": "tb6612_stop"},
+    {"kind": "block", "type": "tb6612_brake"},
+    {"kind": "label", "text": "待机控制"},
+    {
+      "kind": "block",
+      "type": "tb6612_stby",
+      "fields": {"LEVEL": "HIGH"}
+    }
+  ]
+}