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Adafruitms1438: Add string based constructor

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Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Adelin Dobre 2018-06-29 16:56:54 +03:00 committed by Mihai Tudor Panu
parent 9db28cd4fc
commit 7b5b02d859
2 changed files with 37 additions and 14 deletions
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30
src/adafruitms1438/adafruitms1438.cxx
View File

@ -35,6 +35,21 @@ using namespace std;
AdafruitMS1438::AdafruitMS1438(int bus, uint8_t address) :
m_pca9685(new PCA9685(bus, address))
{
initAdafruitMS1438();
}
AdafruitMS1438::AdafruitMS1438(std::string initStr) : m_pca9685(new PCA9685(initStr))
{
initAdafruitMS1438();
}
AdafruitMS1438::~AdafruitMS1438()
{
delete m_pca9685;
}
void AdafruitMS1438::initAdafruitMS1438()
{
setupPinMaps();
@ -56,11 +71,6 @@ AdafruitMS1438::AdafruitMS1438(int bus, uint8_t address) :
stepConfig(STEPMOTOR_M34, 200);
}
AdafruitMS1438::~AdafruitMS1438()
{
delete m_pca9685;
}
void AdafruitMS1438::initClock(STEPMOTORS_T motor)
{
gettimeofday(&m_stepConfig[motor].startTime, NULL);
@ -146,12 +156,12 @@ void AdafruitMS1438::setMotorSpeed(DCMOTORS_T motor, int speed)
{
if (speed < 0)
speed = 0;
if (speed > 100)
speed = 100;
float percent = float(speed) / 100.0;
// make sure that the FullOn bit is turned off, or the speed setting
// (PWM duty cycle) won't have any effect.
m_pca9685->ledFullOn(m_dcMotors[motor].pwm, false);
@ -162,7 +172,7 @@ void AdafruitMS1438::setMotorSpeed(DCMOTORS_T motor, int speed)
void AdafruitMS1438::setStepperSpeed(STEPMOTORS_T motor, int speed)
{
m_stepConfig[motor].stepDelay = 60 * 1000 /
m_stepConfig[motor].stepDelay = 60 * 1000 /
m_stepConfig[motor].stepsPerRev / speed;
}
@ -291,14 +301,14 @@ void AdafruitMS1438::stepperSteps(STEPMOTORS_T motor, unsigned int steps)
if (m_stepConfig[motor].stepDirection == 1)
{
if (m_stepConfig[motor].currentStep >=
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].currentStep =
m_stepConfig[motor].stepsPerRev;
}

21
src/adafruitms1438/adafruitms1438.hpp
View File

@ -29,6 +29,7 @@
#include <string>
#include <mraa/i2c.h>
#include <mraa/gpio.h>
#include <mraa/initio.hpp>
#include "pca9685.hpp"
@ -36,7 +37,7 @@
#define ADAFRUITMS1438_DEFAULT_I2C_ADDR 0x60
namespace upm {
/**
* @brief Adafruit Motor Shield
* @defgroup adafruitms1438 libupm-adafruitms1438
@ -104,11 +105,23 @@ namespace upm {
*/
AdafruitMS1438(int bus, uint8_t address = ADAFRUITMS1438_DEFAULT_I2C_ADDR);
/**
* Instantiates AdafruitMS1438 based on a given string.
*
* @param initStr string containing specific information for AdafruitMS1438 initialization.
*/
AdafruitMS1438(std::string initStr);
/**
* AdafruitMS1438 destructor
*/
~AdafruitMS1438();
/**
* AdafruitMS1438 initialization method
*/
void initAdafruitMS1438();
/**
* Returns the number of milliseconds elapsed since initClock(...)
* was last called.
@ -126,7 +139,7 @@ namespace upm {
/**
* Sets the PWM period. Note: this applies to all PWM channels.
*
* @param hz Sets the PWM period
* @param hz Sets the PWM period
*/
void setPWMPeriod(float hz);
@ -182,7 +195,7 @@ namespace upm {
* @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
*
@ -190,7 +203,7 @@ namespace upm {
* @param dir Direction to set the motor in
*/
void setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir);
/**
* Sets a stepper motor configuration
*