/* * Author: Jon Trulson * Copyright (c) 2015 Intel Corporation. * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "Software"), to deal in the Software without restriction, including * without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to * permit persons to whom the Software is furnished to do so, subject to * the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #pragma once #include #include #include #include #include #include "pca9685.h" #define ADAFRUITMS1438_I2C_BUS 0 #define ADAFRUITMS1438_DEFAULT_I2C_ADDR 0x60 namespace upm { /** * @brief Adafruit Motor Shield 1438 library * @defgroup adafruitms1438 libupm-adafruitms1438 * @ingroup adafruit i2c motor */ /** * @library adafruitms1438 * @sensor adafruitms1438 * @comname Adafruit Motor Shield * @type motor * @man adafruit * @web http://www.adafruit.com/products/1438 * @con i2c * * @brief API for the AdafruitMS1438 Motor Shield * * This class implements support for the stepper and DC motors that * can be connected to this Motor Shield. * Note: the two servo connections are not controlled by the PCA9685 * controller (or this class). They are connected directly to digital * PWM pins 9 and 10 on the Arduino* breakout board. * * @image html adafruitms1438.jpg * An example using a DC motor connected to M3 * @snippet adafruitms1438.cxx Interesting * An example using a stepper motor connected to M1 & M2 * @snippet adafruitms1438-stepper.cxx Interesting */ class AdafruitMS1438 { public: /** * Enum to specify the direction of a motor */ typedef enum { DIR_NONE = 0x00, DIR_CW = 0x01, DIR_CCW = 0x02 } DIRECTION_T; /** * Enum to specify a DC motor */ typedef enum { MOTOR_M1 = 0, MOTOR_M2 = 1, MOTOR_M3 = 2, MOTOR_M4 = 3 } DCMOTORS_T; /** * Enum to specify a stepper motor */ typedef enum { STEPMOTOR_M12 = 0, STEPMOTOR_M34 = 1 } STEPMOTORS_T; /** * AdafruitMS1438 constructor * * @param bus I2C bus to use * @param address Address for this sensor */ AdafruitMS1438(int bus, uint8_t address = ADAFRUITMS1438_DEFAULT_I2C_ADDR); /** * AdafruitMS1438 destructor */ ~AdafruitMS1438(); /** * Returns the number of milliseconds elapsed since initClock(...) * was last called. * * @return Elapsed milliseconds */ uint32_t getMillis(STEPMOTORS_T motor); /** * Resets the clock * */ void initClock(STEPMOTORS_T motor); /** * Sets the PWM period. Note: this applies to all PWM channels. * * @param hz Sets the PWM period */ void setPWMPeriod(float hz); /** * Enables PWM output for a motor * * @param motor DC motor to enable */ void enableMotor(DCMOTORS_T motor); /** * Disables PWM output for a motor * * @param motor DC motor to disable */ void disableMotor(DCMOTORS_T motor); /** * Enables output for a stepper motor * * @param motor Stepper motor to enable */ void enableStepper(STEPMOTORS_T motor); /** * Disable output for a stepper motor * * @param motor Stepper motor to disable */ void disableStepper(STEPMOTORS_T motor); /** * set the speed of a DC motor. Values can range from 0 (off) to * 100 (full speed). * * @param motor the DC motor to configure * @param speed speed to set the motor to */ void setMotorSpeed(DCMOTORS_T motor, int speed); /** * Sets the speed of a stepper in revolutions per minute (RPM) * * @param motor DC motor to configure * @param speed Speed to set the motor to */ void setStepperSpeed(STEPMOTORS_T motor, int speed); /** * Sets the direction of a DC motor, clockwise or counterclockwise * * @param motor DC motor to configure * @param dir Direction to set the motor in */ void setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir); /** * Sets the direction of a stepper motor, clockwise or counterclockwise * * @param motor Stepper motor to configure * @param dir Direction to set the motor in */ void setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir); /** * Sets a stepper motor configuration * * @param motor Stepper motor to configure * @param stepsPerRev Number of steps to complete a full revolution */ void stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev); /** * Steps a stepper motor a specified number of steps * * @param motor Stepper motor to step * @param steps Number of steps to move the stepper motor */ void stepperSteps(STEPMOTORS_T motor, unsigned int steps); private: // SWIG will generate a warning for these 'nested structs'; however, // it can be ignored as these structs are never exposed. // struct to hold mappings of DC motors typedef struct { int pwm; int in1; int in2; } DC_PINMAP_T; // struct to hold mappings of stepper motors typedef struct { int pwmA; int in1A; int in2A; int pwmB; int in1B; int in2B; } STEPPER_PINMAP_T; // struct to hold information about each stepper typedef struct { int stepsPerRev; // steps per revolution int currentStep; // current step number uint32_t stepDelay; // delay between steps int stepDirection; // direction to step struct timeval startTime; // starting time } STEPPER_CONFIG_T; void setupPinMaps(); void stepperStep(STEPMOTORS_T motor); DC_PINMAP_T m_dcMotors[4]; STEPPER_PINMAP_T m_stepMotors[2]; STEPPER_CONFIG_T m_stepConfig[2]; PCA9685 *m_pca9685; }; }