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adafruitms1438: Initial implementation

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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>
This commit is contained in:
Jon Trulson 2015-03-04 15:36:56 -07:00 committed by Mihai Tudor Panu
parent 8ece990ce9
commit 5fac6e9811
10 changed files with 924 additions and 0 deletions
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6
examples/c++/CMakeLists.txt
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@ -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})

82
examples/c++/adafruitms1438-stepper.cxx Normal file
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@ -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;
}

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examples/c++/adafruitms1438.cxx Normal file
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@ -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;
}

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examples/javascript/adafruitms1438-stepper.js Normal file
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/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* Author: Zion Orent <zorent@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.
*/
function exit()
{
console.log("Exiting");
myMotorShield_obj = null;
if (MotorShield_lib)
{
MotorShield_lib.cleanUp();
MotorShield_lib = null;
}
process.exit(0);
}
var MotorShield_lib = require('jsupm_adafruitms1438');
/* Import header values */
var I2CBus = MotorShield_lib.ADAFRUITMS1438_I2C_BUS;
var I2CAddr = MotorShield_lib.ADAFRUITMS1438_DEFAULT_I2C_ADDR;
var M12motor = MotorShield_lib.AdafruitMS1438.STEPMOTOR_M12;
var MotorDirCW = MotorShield_lib.AdafruitMS1438.DIR_CW;
var MotorDirCCW = MotorShield_lib.AdafruitMS1438.DIR_CCW;
// Instantiate an Adafruit MS 1438 on I2C bus 0
var myMotorShield_obj = new MotorShield_lib.AdafruitMS1438(I2CBus, I2CAddr);
// Setup for use with a stepper motor connected to the M1 & M2 ports
// disable first, to be safe
myMotorShield_obj.disableStepper(M12motor);
// configure for a NEMA-17, 200 steps per revolution
myMotorShield_obj.stepConfig(M12motor, 200);
// set speed at 10 RPM's
myMotorShield_obj.setStepperSpeed(M12motor, 10);
myMotorShield_obj.setStepperDirection(M12motor, MotorDirCW);
console.log("Enabling...");
myMotorShield_obj.enableStepper(M12motor);
console.log("Rotating 1 full revolution at 10 RPM speed.");
myMotorShield_obj.stepperSteps(M12motor, 200);
console.log("Sleeping for 2 seconds...");
setTimeout(function()
{
console.log("Rotating 1/2 revolution in opposite direction at 10 RPM speed.");
myMotorShield_obj.setStepperDirection(M12motor, MotorDirCCW);
myMotorShield_obj.stepperSteps(M12motor, 100);
console.log("Disabling...");
myMotorShield_obj.disableStepper(M12motor);
exit();
}, 2000);
process.on('SIGINT', function()
{
exit();
});

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examples/javascript/adafruitms1438.js Normal file
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@ -0,0 +1,89 @@
/*jslint node:true, vars:true, bitwise:true, unparam:true */
/*jshint unused:true */
/*
* Author: Zion Orent <zorent@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.
*/
function exit()
{
console.log("Exiting");
myMotorShield_obj = null;
if (MotorShield_lib)
{
MotorShield_lib.cleanUp();
MotorShield_lib = null;
}
process.exit(0);
}
var MotorShield_lib = require('jsupm_adafruitms1438');
/* Import header values */
var I2CBus = MotorShield_lib.ADAFRUITMS1438_I2C_BUS;
var I2CAddr = MotorShield_lib.ADAFRUITMS1438_DEFAULT_I2C_ADDR;
var M3motor = MotorShield_lib.AdafruitMS1438.MOTOR_M3;
var MotorDirCW = MotorShield_lib.AdafruitMS1438.DIR_CW;
var MotorDirCCW = MotorShield_lib.AdafruitMS1438.DIR_CCW;
// Instantiate an Adafruit MS 1438 on I2C bus 0
var myMotorShield_obj = new MotorShield_lib.AdafruitMS1438(I2CBus, I2CAddr);
// Setup for use with a DC motor connected to the M3 port
// set a PWM period of 50Hz
myMotorShield_obj.setPWMPeriod(50);
// disable first, to be safe
myMotorShield_obj.disableMotor(M3motor);
// set speed at 50%
myMotorShield_obj.setMotorSpeed(M3motor, 50);
myMotorShield_obj.setMotorDirection(M3motor, MotorDirCW);
process.stdout.write("Spin M3 at half speed for 3 seconds, ");
console.log("then reverse for 3 seconds.");
myMotorShield_obj.enableMotor(M3motor);
setTimeout(function()
{
console.log("Reversing M3");
myMotorShield_obj.setMotorDirection(M3motor, MotorDirCCW);
}, 3000);
setTimeout(function()
{
console.log("Stopping M3");
myMotorShield_obj.disableMotor(M3motor);
exit();
}, 6000);
process.on('SIGINT', function()
{
exit();
});

10
src/adafruitms1438/CMakeLists.txt Normal file
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@ -0,0 +1,10 @@
set (libname "adafruitms1438")
set (libdescription "upm module for the Adafruit Motor Shield 1438")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
set (reqlibname "upm-pca9685")
include_directories("../pca9685")
upm_module_init()
target_link_libraries(${libname} pca9685)
swig_link_libraries (jsupm_${libname} -lupm-pca9685 ${MRAA_LIBRARIES} ${NODE_LIBRARIES})
swig_link_libraries (pyupm_${libname} -lupm-pca9685 ${MRAA_LIBRARIES} ${NODE_LIBRARIES})

305
src/adafruitms1438/adafruitms1438.cxx Normal file
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@ -0,0 +1,305 @@
/*
* 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 <math.h>
#include <iostream>
#include <string>
#include "adafruitms1438.h"
using namespace upm;
using namespace std;
AdafruitMS1438::AdafruitMS1438(int bus, uint8_t address) :
m_pca9685(new PCA9685(bus, address))
{
setupPinMaps();
// set a default period of 50Hz
setPWMPeriod(50);
// disable all PWM's (4 of them). They are shared with each other
// (stepper/DC), so just disable the DC motors here
disableMotor(MOTOR_M1);
disableMotor(MOTOR_M2);
disableMotor(MOTOR_M3);
disableMotor(MOTOR_M4);
// Set all 'on time' registers to 0
m_pca9685->ledOnTime(PCA9685_ALL_LED, 0);
// set the default stepper config at 200 steps per rev
stepConfig(STEPMOTOR_M12, 200);
stepConfig(STEPMOTOR_M34, 200);
}
AdafruitMS1438::~AdafruitMS1438()
{
delete m_pca9685;
}
void AdafruitMS1438::initClock(STEPMOTORS_T motor)
{
gettimeofday(&m_stepConfig[motor].startTime, NULL);
}
uint32_t AdafruitMS1438::getMillis(STEPMOTORS_T motor)
{
struct timeval elapsed, now;
uint32_t elapse;
// get current time
gettimeofday(&now, NULL);
struct timeval startTime = m_stepConfig[motor].startTime;
// compute the delta since m_startTime
if( (elapsed.tv_usec = now.tv_usec - startTime.tv_usec) < 0 )
{
elapsed.tv_usec += 1000000;
elapsed.tv_sec = now.tv_sec - startTime.tv_sec - 1;
}
else
{
elapsed.tv_sec = now.tv_sec - startTime.tv_sec;
}
elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
// never return 0
if (elapse == 0)
elapse = 1;
return elapse;
}
// setup the pin mappings of the pca9685 outputs to the proper motor controls
void AdafruitMS1438::setupPinMaps()
{
// first the dc motors
m_dcMotors[0] = (DC_PINMAP_T){ 8, 10, 9 };
m_dcMotors[1] = (DC_PINMAP_T){ 13, 11, 12 };
m_dcMotors[2] = (DC_PINMAP_T){ 2, 4, 3 };
m_dcMotors[3] = (DC_PINMAP_T){ 7, 5, 6 };
// now the 2 steppers
m_stepMotors[0] = (STEPPER_PINMAP_T){ 8, 10, 9,
13, 11, 12 };
m_stepMotors[1] = (STEPPER_PINMAP_T){ 2, 4, 3,
7, 5, 6 };
}
void AdafruitMS1438::setPWMPeriod(float hz)
{
// must be in sleep mode to set the prescale register
m_pca9685->setModeSleep(true);
m_pca9685->setPrescaleFromHz(hz);
m_pca9685->setModeSleep(false);
}
void AdafruitMS1438::enableMotor(DCMOTORS_T motor)
{
m_pca9685->ledFullOff(m_dcMotors[motor].pwm, false);
}
void AdafruitMS1438::disableMotor(DCMOTORS_T motor)
{
m_pca9685->ledFullOff(m_dcMotors[motor].pwm, true);
}
void AdafruitMS1438::enableStepper(STEPMOTORS_T motor)
{
m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, false);
m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, false);
}
void AdafruitMS1438::disableStepper(STEPMOTORS_T motor)
{
m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
}
void AdafruitMS1438::setMotorSpeed(DCMOTORS_T motor, int speed)
{
if (speed < 0)
speed = 0;
if (speed > 100)
speed = 100;
float percent = float(speed) / 100.0;
m_pca9685->ledOffTime(m_dcMotors[motor].pwm, int(4095.0 * percent));
}
void AdafruitMS1438::setStepperSpeed(STEPMOTORS_T motor, int speed)
{
m_stepConfig[motor].stepDelay = 60 * 1000 /
m_stepConfig[motor].stepsPerRev / speed;
}
void AdafruitMS1438::setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir)
{
if (dir & 0x01)
{
m_pca9685->ledFullOn(m_dcMotors[motor].in1, true);
m_pca9685->ledFullOff(m_dcMotors[motor].in1, false);
}
else
{
m_pca9685->ledFullOff(m_dcMotors[motor].in1, true);
m_pca9685->ledFullOn(m_dcMotors[motor].in1, false);
}
if (dir & 0x02)
{
m_pca9685->ledFullOn(m_dcMotors[motor].in2, true);
m_pca9685->ledFullOff(m_dcMotors[motor].in2, false);
}
else
{
m_pca9685->ledFullOff(m_dcMotors[motor].in2, true);
m_pca9685->ledFullOn(m_dcMotors[motor].in2, false);
}
}
void AdafruitMS1438::setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir)
{
switch (dir)
{
case DIR_CW:
m_stepConfig[motor].stepDirection = 1;
break;
case DIR_CCW:
m_stepConfig[motor].stepDirection = -1;
break;
default: // default to 1 if DIR_NONE specified
m_stepConfig[motor].stepDirection = 1;
break;
}
}
void AdafruitMS1438::stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev)
{
m_stepConfig[motor].stepsPerRev = stepsPerRev;
m_stepConfig[motor].currentStep = 0;
m_stepConfig[motor].stepDelay = 0;
m_stepConfig[motor].stepDirection = 1; // forward
// now, setup the control pins - we want both FULL ON and FULL OFF.
// Since FULL OFF has precedence, we can then control the steps by
// just turning on/off the FULL OFF bit for the relevant outputs
m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
m_pca9685->ledFullOn(m_stepMotors[motor].pwmA, true);
m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
m_pca9685->ledFullOn(m_stepMotors[motor].pwmB, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
m_pca9685->ledFullOn(m_stepMotors[motor].in2B, true);
}
void AdafruitMS1438::stepperStep(STEPMOTORS_T motor)
{
int step = m_stepConfig[motor].currentStep % 4;
// Step I0 I1 I2 I3
// 1 1 0 1 0
// 2 0 1 1 0
// 3 0 1 0 1
// 4 1 0 0 1
// we invert the logic since we are essentially toggling an OFF bit,
// not an ON bit.
switch (step)
{
case 0: // 1010
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
break;
case 1: // 0110
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
break;
case 2: //0101
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
break;
case 3: //1001
m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
break;
}
}
void AdafruitMS1438::stepperSteps(STEPMOTORS_T motor, unsigned int steps)
{
while (steps > 0)
{
if (getMillis(motor) >= m_stepConfig[motor].stepDelay)
{
// reset the clock
initClock(motor);
m_stepConfig[motor].currentStep += m_stepConfig[motor].stepDirection;
if (m_stepConfig[motor].stepDirection == 1)
{
if (m_stepConfig[motor].currentStep >=
m_stepConfig[motor].stepsPerRev)
m_stepConfig[motor].currentStep = 0;
}
else
{
if (m_stepConfig[motor].currentStep <= 0)
m_stepConfig[motor].currentStep =
m_stepConfig[motor].stepsPerRev;
}
steps--;
stepperStep(motor);
}
}
}

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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 UPM module for the Adafruit Motor Shield 1438
* @defgroup adafruitms1438 libupm-adafruitms1438
*/
/**
* @brief C++ API for the ADAFRUITMS1438 motor shield
*
* This class implements support for the stepper and DC motors that
* can be connected to this Motor Shield.
* http://www.adafruit.com/products/1438
*
* NOTE: The two servo connections are not actually controlled by
* the pca9685 controller (or this class), rather they are connected
* directly to digital PWM pins 9 and 10 on the arduino breakout.
*
* @ingroup i2c adafruitms1438
* An example using a DC motor conected 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 the address for this sensor
*/
AdafruitMS1438(int bus, uint8_t address = ADAFRUITMS1438_DEFAULT_I2C_ADDR);
/**
* AdafruitMS1438 Destructor
*/
~AdafruitMS1438();
/**
* Return the number of milliseconds elapsed since initClock(...)
* was last called.
*
* @return elapsed milliseconds
*/
uint32_t getMillis(STEPMOTORS_T motor);
/**
* Reset the Clock
*
*/
void initClock(STEPMOTORS_T motor);
/**
* Set the PWM period. Note this applies to all PWM channels.
*
* @param hz set the PWM period
*/
void setPWMPeriod(float hz);
/**
* enable PWM output for a motor
*
* @param motor the DC motor to enable
*/
void enableMotor(DCMOTORS_T motor);
/**
* disable PWM output for a motor
*
* @param motor the DC motor to disable
*/
void disableMotor(DCMOTORS_T motor);
/**
* enable output for a stepper motor
*
* @param motor the stepper motor to enable
*/
void enableStepper(STEPMOTORS_T motor);
/**
* disable output for a stepper motor
*
* @param motor the 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);
/**
* set the speed of a stepper in revolution per minute (RPM)
*
* @param motor the DC motor to configure
* @param speed speed to set the motor to
*/
void setStepperSpeed(STEPMOTORS_T motor, int speed);
/**
* set the direction of a DC motor, clockwise or counter clockwise
*
* @param motor the DC motor to configure
* @param dir direction to set the motor to
*/
void setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir);
/**
* set the direction of a stepper motor, clockwise or counter clockwise
*
* @param motor the stepper motor to configure
* @param dir direction to set the motor to
*/
void setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir);
/**
* set a stepper motor configuration
*
* @param motor the stepper motor to configure
* @param stepsPerRev the number of step to complete a full revolution
*/
void stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev);
/**
* step a stepper motor a specified number of steps
*
* @param motor the 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 warning for these 'nested structs', however
// those can be ignored as these structs are never exposed.
// struct to hold mappings of the dc motors
typedef struct {
int pwm;
int in1;
int in2;
} DC_PINMAP_T;
// struct to hold mappings of the stepper motors
typedef struct {
int pwmA;
int in1A;
int in2A;
int pwmB;
int in1B;
int in2B;
} STEPPER_PINMAP_T;
// struct to hold some 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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%module jsupm_adafruitms1438
%include "../upm.i"
%{
#include "adafruitms1438.h"
%}
%include "adafruitms1438.h"

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src/adafruitms1438/pyupm_adafruitms1438.i Normal file
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%module pyupm_adafruitms1438
%include "../upm.i"
%feature("autodoc", "3");
#ifdef DOXYGEN
%include "adafruitms1438_doc.i"
#endif
%include "adafruitms1438.h"
%{
#include "adafruitms1438.h"
%}