TB6612FNG-XCR

An advanced Arduino motor driver library for the TB6612FNG dual H-Bridge module, designed with robotics in mind.

---

🚀 Features

• Simple servo-style API (like write(speed))
• Sumo mode for dual motor coordination
• Manual mode for direct low-level pin control
• Support for motor inversion (e.g., if wired backwards)
• Standby pin control (STBY)
• Adjustable min/max PWM speed
• Debug output option via Serial

---

🤖 Perfect For

• Mini sumo robots
• Line follower robots
• Arduino-based mobile platforms
• Any dual DC motor project with TB6612FNG

---

🧠 Basic Usage

#include "TB6612FNG_XCR.h"

TB6612FNG_XCR leftMotor;
TB6612FNG_XCR rightMotor;

void setup() {
  leftMotor.attach(5, A1, A2, "Left");
  rightMotor.attach(6, A3, A4, "Right");

  leftMotor.setStandbyPin(7);
  rightMotor.setStandbyPin(7);

  rightMotor.invert(true);

  leftMotor.enableSumoMode(&leftMotor, &rightMotor);
  rightMotor.enableSumoMode(&leftMotor, &rightMotor);

  leftMotor.sumoControl(255, 255); // Move forward
}

---

⚙️ Motor Driver Pinout (TB6612FNG)

Here is how to connect the TB6612FNG motor driver to Arduino:

TB6612FNG Pin	Description	Connect to Arduino
AIN1	Motor A input 1	Digital Pin (e.g., A1)
AIN2	Motor A input 2	Digital Pin (e.g., A2)
PWMA	Motor A PWM	PWM Pin (e.g., 5)
BIN1	Motor B input 1	Digital Pin (e.g., A3)
BIN2	Motor B input 2	Digital Pin (e.g., A4)
PWMB	Motor B PWM	PWM Pin (e.g., 6)
STBY	Standby control	Digital Pin (e.g., 7)
VCC	Motor voltage	+5V or motor power supply
GND	Ground	GND
VM	Motor power	External 6–12V (e.g., battery)

Ensure STBY is connected and set HIGH in code using setStandbyPin(pin).

---

🧰 Methods Overview

Setup

• attach(enPin, in1Pin, in2Pin, name)
• setStandbyPin(pin)
• invert(bool)

Movement

• write(speed)
• stop()
• brake()
• read()

Limits

• setMaxSpeed(pwm)
• setMinSpeed(pwm)

Manual Control

• manual(in1, in2, pwm, duration)

Sumo Mode

• enableSumoMode(&left, &right)
• disableSumoMode()
• sumoControl(leftSpeed, rightSpeed)

Debug

• debugOn() / debugOff()

---

🧪 Examples

• /examples/LineFollower
• /examples/MiniSumo

---