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/*
* Author: Jon Trulson <jtrulson@ics.com>
* 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 <stdint.h>
#include <sys/time.h>
#include <string>
#include <mraa/i2c.h>
#include <mraa/gpio.h>
#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;
};
}
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