adafruitms1438: Initial implementation

The library implements support for the Adafruit MotorShield 1438:
http://www.adafruit.com/products/1438

This shield supports 4 DC motors or 2 Stepper motors.

It makes use of the pca9685 UPM library, and therefore requires that
PR #123 and PR #134 are merged first:

PR 123: pkgconfig.in: allow a module to specify dependencies on
another module

PR 134: pca9685: Initial implementation

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -101,6 +101,8 @@ add_executable (grovemd-example grovemd.cxx)
 add_executable (pca9685-example pca9685.cxx)
 add_executable (groveeldriver-example groveeldriver.cxx)
 add_executable (adafruitss-example adafruitss.cxx)
+add_executable (adafruitms1438-example adafruitms1438.cxx)
+add_executable (adafruitms1438-stepper-example adafruitms1438-stepper.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -183,6 +185,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/grovemd)
 include_directories (${PROJECT_SOURCE_DIR}/src/pca9685)
 include_directories (${PROJECT_SOURCE_DIR}/src/groveeldriver)
 include_directories (${PROJECT_SOURCE_DIR}/src/adafruitss)
+include_directories (${PROJECT_SOURCE_DIR}/src/adafruitms1438)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -285,3 +288,6 @@ target_link_libraries (grovemd-example grovemd ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (pca9685-example pca9685 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveeldriver-example groveeldriver ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (adafruitss-example adafruitss ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (adafruitms1438-example adafruitms1438 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (adafruitms1438-stepper-example adafruitms1438 ${CMAKE_THREAD_LIBS_INIT})
+

examples/c++/adafruitms1438-stepper.cxx

@@ -0,0 +1,82 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <signal.h>
+#include <iostream>
+#include "adafruitms1438.h"
+
+using namespace std;
+using namespace upm;
+
+int main(int argc, char **argv)
+{
+//! [Interesting]
+  // Instantiate an Adafruit MS 1438 on I2C bus 0
+
+  upm::AdafruitMS1438 *ms = 
+    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
+                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
+
+  // Setup for use with a stepper motor connected to the M1 & M2 ports
+
+  // set a PWM period of 50Hz
+
+  // disable first, to be safe
+  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
+
+  // configure for a NEMA-17, 200 steps per revolution
+  ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
+
+  // set speed at 10 RPM's
+  ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
+  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
+                          AdafruitMS1438::DIR_CW);
+
+  // enable
+  cout << "Enabling..." << endl;
+  ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12);
+
+  cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
+  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
+
+  cout << "Sleeping for 2 seconds..." << endl;
+  sleep(2);
+  cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 
+       << endl;
+
+  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
+                          AdafruitMS1438::DIR_CCW);
+  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
+
+  cout << "Disabling..." << endl;
+  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
+
+  cout << "Exiting" << endl;
+
+//! [Interesting]
+
+  delete ms;
+  return 0;
+}

examples/c++/adafruitms1438.cxx

@@ -0,0 +1,75 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include <signal.h>
+#include <iostream>
+#include "adafruitms1438.h"
+
+using namespace std;
+using namespace upm;
+
+int main(int argc, char **argv)
+{
+//! [Interesting]
+  // Instantiate an Adafruit MS 1438 on I2C bus 0
+
+  upm::AdafruitMS1438 *ms = 
+    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
+                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
+
+  // Setup for use with a DC motor connected to the M3 port
+
+  // set a PWM period of 50Hz
+  ms->setPWMPeriod(50);
+
+  // disable first, to be safe
+  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
+
+  // set speed at 50%
+  ms->setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
+  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
+
+  cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds."
+       << endl;
+
+  ms->enableMotor(AdafruitMS1438::MOTOR_M3);
+
+  sleep(3);
+
+  cout << "Reversing M3" << endl;
+  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
+
+  sleep(3);
+
+  cout << "Stopping M3" << endl;
+  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
+
+  cout << "Exiting" << endl;
+
+//! [Interesting]
+
+  delete ms;
+  return 0;
+}