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MD: Adding missing files
Signed-off-by: Sisinty Sasmita Patra <sisinty.s.patra@intel.com>
This commit is contained in:
parent
2970d21ddd
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BIN
docs/images/md.jpg
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docs/images/md.jpg
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66
examples/c++/md-stepper.cxx
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66
examples/c++/md-stepper.cxx
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
|
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* a copy of this software and associated documentation files (the
|
||||
* "Software"), to deal in the Software without restriction, including
|
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* without limitation the rights to use, copy, modify, merge, publish,
|
||||
* distribute, sublicense, and/or sell copies of the Software, and to
|
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* permit persons to whom the Software is furnished to do so, subject to
|
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* the following conditions:
|
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*
|
||||
* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
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*
|
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <signal.h>
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#include <iostream>
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#include "md.hpp"
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using namespace std;
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int main(int argc, char **argv)
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{
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//! [Interesting]
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// Instantiate an I2C Motor Driver on I2C bus 0
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upm::MD *motors = new upm::MD(MD_I2C_BUS,
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MD_DEFAULT_I2C_ADDR);
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// This example demonstrates using the MD to drive a stepper motor
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// configure it, for this example, we'll assume 200 steps per rev
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motors->configStepper(200);
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// set for half a rotation
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motors->setStepperSteps(100);
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// let it go - clockwise rotation, 10 RPM speed
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motors->enableStepper(upm::MD::STEP_DIR_CW, 10);
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sleep(3);
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// Now do it backwards...
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motors->setStepperSteps(100);
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motors->enableStepper(upm::MD::STEP_DIR_CCW, 10);
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// now disable
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motors->disableStepper();
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//! [Interesting]
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cout << "Exiting..." << endl;
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delete motors;
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return 0;
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}
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60
examples/c++/md.cxx
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60
examples/c++/md.cxx
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@ -0,0 +1,60 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
|
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* "Software"), to deal in the Software without restriction, including
|
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* without limitation the rights to use, copy, modify, merge, publish,
|
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* distribute, sublicense, and/or sell copies of the Software, and to
|
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* permit persons to whom the Software is furnished to do so, subject to
|
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* the following conditions:
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*
|
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* The above copyright notice and this permission notice shall be
|
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* included in all copies or substantial portions of the Software.
|
||||
*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <signal.h>
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#include <iostream>
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#include "md.hpp"
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using namespace std;
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int main(int argc, char **argv)
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{
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//! [Interesting]
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// Instantiate an I2C Motor Driver on I2C bus 0
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upm::MD *motors = new upm::MD(MD_I2C_BUS,
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MD_DEFAULT_I2C_ADDR);
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// set direction to CW and set speed to 50%
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cout << "Spin M1 and M2 at half speed for 3 seconds" << endl;
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motors->setMotorDirections(upm::MD::DIR_CW, upm::MD::DIR_CW);
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motors->setMotorSpeeds(127, 127);
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sleep(3);
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// counter clockwise
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cout << "Reversing M1 and M2 for 3 seconds" << endl;
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motors->setMotorDirections(upm::MD::DIR_CCW, upm::MD::DIR_CCW);
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sleep(3);
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//! [Interesting]
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cout << "Stopping motors" << endl;
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motors->setMotorSpeeds(0, 0);
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cout << "Exiting..." << endl;
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delete motors;
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return 0;
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}
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53
examples/java/MDSample.java
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53
examples/java/MDSample.java
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@ -0,0 +1,53 @@
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/*
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* Author: Stefan Andritoiu <stefan.andritoiu@intel.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
|
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* a copy of this software and associated documentation files (the
|
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* "Software"), to deal in the Software without restriction, including
|
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* without limitation the rights to use, copy, modify, merge, publish,
|
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* distribute, sublicense, and/or sell copies of the Software, and to
|
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* permit persons to whom the Software is furnished to do so, subject to
|
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* the following conditions:
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*
|
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* The above copyright notice and this permission notice shall be
|
||||
* included in all copies or substantial portions of the Software.
|
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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public class MDSample {
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private static final short speed50 = 127;
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private static final short speed0 = 0;
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public static void main(String[] args) throws InterruptedException {
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// ! [Interesting]
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// Instantiate an I2C Motor Driver on I2C bus 0
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upm_md.MD motors = new upm_md.MD();
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// set direction to clockwise (CW) and set speed to 50%
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System.out.println("Spin M1 and M2 at half speed for 3 seconds");
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motors.setMotorDirections(upm_md.MD.DC_DIRECTION_T.DIR_CW,
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upm_md.MD.DC_DIRECTION_T.DIR_CW);
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motors.setMotorSpeeds(speed50, speed50);
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Thread.sleep(3000);
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// counter clockwise (CCW)
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System.out.println("Reversing M1 and M2 for 3 seconds");
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motors.setMotorDirections(upm_md.MD.DC_DIRECTION_T.DIR_CCW,
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upm_md.MD.DC_DIRECTION_T.DIR_CCW);
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Thread.sleep(3000);
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// stop motors
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System.out.println("Stopping motors");
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motors.setMotorSpeeds(speed0, speed0);
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// ! [Interesting]
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}
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}
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92
examples/javascript/md-stepper.js
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92
examples/javascript/md-stepper.js
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@ -0,0 +1,92 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
|
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* a copy of this software and associated documentation files (the
|
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* "Software"), to deal in the Software without restriction, including
|
||||
* without limitation the rights to use, copy, modify, merge, publish,
|
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* distribute, sublicense, and/or sell copies of the Software, and to
|
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* 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.
|
||||
*
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* 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
|
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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var mdObj = require('jsupm_md');
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// This example demonstrates using the MD to drive a stepper motor
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function start()
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{
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if (motor)
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{
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// configure it, for this example, we'll assume 200 steps per rev
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motor.configStepper(200);
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motor.setStepperSteps(100);
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// start it going at 10 RPM
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motor.enableStepper(mdObj.MD.STEP_DIR_CW, 10);
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}
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}
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function reverse()
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{
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if (motor)
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{
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// now reverse
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motor.setStepperSteps(100);
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// start it going at 10 RPM
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motor.enableStepper(mdObj.MD.STEP_DIR_CCW, 10);
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}
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}
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function end()
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{
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if (motor)
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{
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motor.disableStepper();
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}
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exit();
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}
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// When exiting: clear memory and print exit message
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function exit()
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{
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if (motor)
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{
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motor = null;
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mdObj.cleanUp();
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}
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mdObj = null;
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console.log("Exiting");
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process.exit(0);
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}
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// Instantiate an I2C Motor Driver on I2C bus 0
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var motor = new mdObj.MD(
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mdObj.MD_I2C_BUS,
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mdObj.MD_DEFAULT_I2C_ADDR);
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start();
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setTimeout(function()
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{
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reverse();
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setTimeout(end, 3000);
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}, 3000);
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process.on('SIGINT', function()
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{
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exit();
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});
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91
examples/javascript/md.js
Normal file
91
examples/javascript/md.js
Normal file
@ -0,0 +1,91 @@
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/*
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* Author: Zion Orent <zorent@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* 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
|
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
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*/
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var MotorDriver_lib = require('jsupm_md');
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function start()
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{
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if (my_MotorDriver_obj)
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{
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// set direction to CW and set speed to 50%
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console.log("Spin M1 and M2 at half speed for 3 seconds");
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my_MotorDriver_obj.setMotorDirections(MotorDriver_lib.MD.DIR_CW,
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MotorDriver_lib.MD.DIR_CW);
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my_MotorDriver_obj.setMotorSpeeds(127, 127);
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}
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}
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function reverse()
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{
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if (my_MotorDriver_obj)
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{
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// counter clockwise
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console.log("Reversing M1 and M2 for 3 seconds");
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my_MotorDriver_obj.setMotorDirections(MotorDriver_lib.MD.DIR_CCW,
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MotorDriver_lib.MD.DIR_CCW);
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}
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}
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function end()
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{
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if (my_MotorDriver_obj)
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{
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console.log("Stopping motors");
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my_MotorDriver_obj.setMotorSpeeds(0, 0);
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}
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exit();
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}
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// When exiting: clear memory and print exit message
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function exit()
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{
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if (my_MotorDriver_obj)
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{
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my_MotorDriver_obj = null;
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MotorDriver_lib.cleanUp();
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}
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MotorDriver_lib = null;
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console.log("Exiting");
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process.exit(0);
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}
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// Instantiate an I2C Motor Driver on I2C bus 0
|
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var my_MotorDriver_obj = new MotorDriver_lib.MD(
|
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MotorDriver_lib.MD_I2C_BUS,
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MotorDriver_lib.MD_DEFAULT_I2C_ADDR);
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start();
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setTimeout(function()
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{
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reverse();
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setTimeout(end, 3000);
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}, 3000);
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process.on('SIGINT', function()
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{
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exit();
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});
|
52
examples/python/md-stepper.py
Normal file
52
examples/python/md-stepper.py
Normal file
@ -0,0 +1,52 @@
|
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#!/usr/bin/python
|
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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.
|
||||
|
||||
import time
|
||||
import pyupm_md as upmmd
|
||||
|
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I2C_BUS = upmmd.MD_I2C_BUS
|
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I2C_ADDR = upmmd.MD_DEFAULT_I2C_ADDR
|
||||
|
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# Instantiate an I2C Motor Driver on I2C bus 0
|
||||
myMotorDriver = upmmd.MD(I2C_BUS, I2C_ADDR)
|
||||
|
||||
# This example demonstrates using the MD to drive a stepper motor
|
||||
|
||||
# configure it, for this example, we'll assume 200 steps per rev
|
||||
myMotorDriver.configStepper(200)
|
||||
|
||||
# set for half a rotation
|
||||
myMotorDriver.setStepperSteps(100)
|
||||
|
||||
# let it go - clockwise rotation, 10 RPM speed
|
||||
myMotorDriver.enableStepper(upmmd.MD.STEP_DIR_CW, 10)
|
||||
|
||||
time.sleep(3)
|
||||
|
||||
# Now do it backwards...
|
||||
myMotorDriver.setStepperSteps(100)
|
||||
myMotorDriver.enableStepper(upmmd.MD.STEP_DIR_CCW, 10)
|
||||
|
||||
# now disable
|
||||
myMotorDriver.disableStepper()
|
||||
|
47
examples/python/md.py
Normal file
47
examples/python/md.py
Normal file
@ -0,0 +1,47 @@
|
||||
#!/usr/bin/python
|
||||
# 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.
|
||||
|
||||
import time
|
||||
import pyupm_md as upmmd
|
||||
|
||||
I2C_BUS = upmmd.MD_I2C_BUS
|
||||
I2C_ADDR = upmmd.MD_DEFAULT_I2C_ADDR
|
||||
|
||||
# Instantiate an I2C Motor Driver on I2C bus 0
|
||||
myMotorDriver = upmmd.MD(I2C_BUS, I2C_ADDR)
|
||||
|
||||
|
||||
# set direction to CW and set speed to 50%
|
||||
print "Spin M1 and M2 at half speed for 3 seconds"
|
||||
myMotorDriver.setMotorDirections(upmmd.MD.DIR_CW, upmmd.MD.DIR_CW)
|
||||
myMotorDriver.setMotorSpeeds(127, 127)
|
||||
|
||||
time.sleep(3)
|
||||
# counter clockwise
|
||||
print "Reversing M1 and M2 for 3 seconds"
|
||||
myMotorDriver.setMotorDirections(upmmd.MD.DIR_CCW,
|
||||
upmmd.MD.DIR_CCW)
|
||||
time.sleep(3)
|
||||
|
||||
print "Stopping motors"
|
||||
myMotorDriver.setMotorSpeeds(0, 0)
|
5
src/md/CMakeLists.txt
Normal file
5
src/md/CMakeLists.txt
Normal file
@ -0,0 +1,5 @@
|
||||
upm_mixed_module_init (NAME md
|
||||
DESCRIPTION "UPM MD Module"
|
||||
CPP_HDR md.hpp
|
||||
CPP_SRC md.cxx
|
||||
REQUIRES mraa)
|
19
src/md/javaupm_md.i
Normal file
19
src/md/javaupm_md.i
Normal file
@ -0,0 +1,19 @@
|
||||
%module javaupm_md
|
||||
%include "../upm.i"
|
||||
|
||||
%{
|
||||
#include "md.hpp"
|
||||
%}
|
||||
|
||||
%include "md.hpp"
|
||||
|
||||
%pragma(java) jniclasscode=%{
|
||||
static {
|
||||
try {
|
||||
System.loadLibrary("javaupm_md");
|
||||
} catch (UnsatisfiedLinkError e) {
|
||||
System.err.println("Native code library failed to load. \n" + e);
|
||||
System.exit(1);
|
||||
}
|
||||
}
|
||||
%}
|
8
src/md/jsupm_md.i
Normal file
8
src/md/jsupm_md.i
Normal file
@ -0,0 +1,8 @@
|
||||
%module jsupm_md
|
||||
%include "../upm.i"
|
||||
|
||||
%{
|
||||
#include "md.hpp"
|
||||
%}
|
||||
|
||||
%include "md.hpp"
|
244
src/md/md.cxx
Normal file
244
src/md/md.cxx
Normal file
@ -0,0 +1,244 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2014 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 <iostream>
|
||||
#include <string>
|
||||
#include <stdexcept>
|
||||
|
||||
#include "md.hpp"
|
||||
|
||||
using namespace upm;
|
||||
using namespace std;
|
||||
|
||||
|
||||
MD::MD(int bus, uint8_t address) :
|
||||
m_i2c(bus)
|
||||
{
|
||||
m_addr = address;
|
||||
|
||||
// this board *requires* 100Khz i2c bus only
|
||||
mraa::Result rv;
|
||||
if ( (rv = m_i2c.frequency(mraa::I2C_STD)) != mraa::SUCCESS )
|
||||
{
|
||||
throw std::invalid_argument(std::string(__FUNCTION__) +
|
||||
": I2c.frequency(I2C_STD) failed");
|
||||
return;
|
||||
}
|
||||
|
||||
if (m_i2c.address(m_addr))
|
||||
{
|
||||
throw std::runtime_error(std::string(__FUNCTION__) +
|
||||
": I2c.address() failed");
|
||||
return;
|
||||
}
|
||||
|
||||
initClock();
|
||||
// default to mode1 stepper operation, 200 steps per rev.
|
||||
configStepper(200, STEP_MODE1);
|
||||
}
|
||||
|
||||
MD::~MD()
|
||||
{
|
||||
setMotorSpeeds(0, 0);
|
||||
writePacket(SET_DIRECTION, 0, MD_NOOP);
|
||||
}
|
||||
|
||||
bool MD::writePacket(REG_T reg, uint8_t data1, uint8_t data2)
|
||||
{
|
||||
uint8_t buf[3];
|
||||
|
||||
buf[0] = reg;
|
||||
buf[1] = data1;
|
||||
buf[2] = data2;
|
||||
|
||||
if ( m_i2c.write(buf, 3) != mraa::SUCCESS )
|
||||
{
|
||||
throw std::runtime_error(std::string(__FUNCTION__) +
|
||||
": I2c.write() failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
// This sleep appears to be required. Without it, writes randomly
|
||||
// fail (no ACK received). This happens most often on the SET_SPEED
|
||||
// packet. I am guessing that there is a timing problem and/or bug
|
||||
// in the motor driver's firmware.
|
||||
|
||||
usleep(100);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool MD::setMotorSpeeds(uint8_t speedA, uint8_t speedB)
|
||||
{
|
||||
return writePacket(SET_SPEED, speedA, speedB);
|
||||
}
|
||||
|
||||
bool MD::setPWMFrequencyPrescale(uint8_t freq)
|
||||
{
|
||||
return writePacket(SET_PWM_FREQ, freq, MD_NOOP);
|
||||
}
|
||||
|
||||
bool MD::setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB)
|
||||
{
|
||||
uint8_t dir = ((dirB & 0x03) << 2) | (dirA & 0x03);
|
||||
return writePacket(SET_DIRECTION, dir, MD_NOOP);
|
||||
}
|
||||
|
||||
bool MD::enableStepper(STEP_DIRECTION_T dir, uint8_t speed)
|
||||
{
|
||||
// If mode 2, send the command and return immediately
|
||||
if (m_stepMode == STEP_MODE2)
|
||||
return writePacket(STEPPER_ENABLE, dir, speed);
|
||||
|
||||
// otherwise, mode 1, setup the basics and start stepping.
|
||||
|
||||
m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
|
||||
m_stepDirection = ((dir == STEP_DIR_CW) ? 1 : -1);
|
||||
|
||||
// seeed says speed should always be 255,255 for stepper operation
|
||||
setMotorSpeeds(255, 255);
|
||||
|
||||
while (m_totalSteps > 0)
|
||||
{
|
||||
if (getMillis() >= m_stepDelay)
|
||||
{
|
||||
// reset the clock
|
||||
initClock();
|
||||
|
||||
m_currentStep += m_stepDirection;
|
||||
|
||||
if (m_stepDirection == 1)
|
||||
{
|
||||
if (m_currentStep >= m_stepsPerRev)
|
||||
m_currentStep = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (m_currentStep <= 0)
|
||||
m_currentStep = m_stepsPerRev;
|
||||
}
|
||||
|
||||
m_totalSteps--;
|
||||
stepperStep();
|
||||
}
|
||||
}
|
||||
|
||||
// and... we're done
|
||||
return true;
|
||||
}
|
||||
|
||||
bool MD::disableStepper()
|
||||
{
|
||||
if (m_stepMode == STEP_MODE2)
|
||||
return writePacket(STEPPER_DISABLE, MD_NOOP, MD_NOOP);
|
||||
|
||||
// else, mode 1
|
||||
writePacket(SET_DIRECTION, 0, MD_NOOP);
|
||||
return setMotorSpeeds(0, 0);
|
||||
}
|
||||
|
||||
bool MD::setStepperSteps(unsigned int steps)
|
||||
{
|
||||
if (m_stepMode == STEP_MODE2)
|
||||
{
|
||||
if (steps == 0)
|
||||
{
|
||||
// invalid
|
||||
throw std::out_of_range(std::string(__FUNCTION__) +
|
||||
": invalid number of steps. " +
|
||||
"Valid values are between 1 and 255.");
|
||||
return false;
|
||||
}
|
||||
return writePacket(STEPPER_NUM_STEPS, steps, MD_NOOP);
|
||||
}
|
||||
|
||||
// for mode one, just store it for future use by enableStepper()
|
||||
m_totalSteps = steps;
|
||||
return true;
|
||||
}
|
||||
|
||||
void MD::initClock()
|
||||
{
|
||||
gettimeofday(&m_startTime, NULL);
|
||||
}
|
||||
|
||||
uint32_t MD::getMillis()
|
||||
{
|
||||
struct timeval elapsed, now;
|
||||
uint32_t elapse;
|
||||
|
||||
// get current time
|
||||
gettimeofday(&now, NULL);
|
||||
|
||||
// compute the delta since m_startTime
|
||||
if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 )
|
||||
{
|
||||
elapsed.tv_usec += 1000000;
|
||||
elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
|
||||
}
|
||||
|
||||
elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
|
||||
|
||||
// never return 0
|
||||
if (elapse == 0)
|
||||
elapse = 1;
|
||||
|
||||
return elapse;
|
||||
}
|
||||
|
||||
void MD::configStepper(unsigned int stepsPerRev, STEP_MODE_T mode)
|
||||
{
|
||||
m_stepsPerRev = stepsPerRev;
|
||||
m_stepMode = mode;
|
||||
m_currentStep = 0;
|
||||
m_stepDelay = 0;
|
||||
m_stepDirection = 1;
|
||||
m_totalSteps = 0;
|
||||
}
|
||||
|
||||
void MD::stepperStep()
|
||||
{
|
||||
int step = m_currentStep % 4;
|
||||
|
||||
switch (step)
|
||||
{
|
||||
case 0:
|
||||
writePacket(SET_DIRECTION, 0b0101, MD_NOOP);
|
||||
break;
|
||||
case 1:
|
||||
writePacket(SET_DIRECTION, 0b0110, MD_NOOP);
|
||||
break;
|
||||
case 2:
|
||||
writePacket(SET_DIRECTION, 0b1010, MD_NOOP);
|
||||
break;
|
||||
case 3:
|
||||
writePacket(SET_DIRECTION, 0b1001, MD_NOOP);
|
||||
break;
|
||||
}
|
||||
}
|
255
src/md/md.hpp
Normal file
255
src/md/md.hpp
Normal file
@ -0,0 +1,255 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2014 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/types.hpp>
|
||||
#include <mraa/i2c.hpp>
|
||||
|
||||
#define MD_I2C_BUS 0
|
||||
#define MD_DEFAULT_I2C_ADDR 0x0f
|
||||
|
||||
namespace upm {
|
||||
/**
|
||||
* @brief I2C Motor Driver library
|
||||
* @defgroup md libupm-md
|
||||
* @ingroup seeed i2c motor robok
|
||||
*/
|
||||
|
||||
/**
|
||||
* @library md
|
||||
* @sensor md
|
||||
* @comname I2C Motor Driver
|
||||
* @type motor
|
||||
* @man seeed
|
||||
* @con i2c
|
||||
* @kit robok
|
||||
*
|
||||
* @brief API for the I2C Motor Driver
|
||||
*
|
||||
* This class implements support for the I2C Motor Driver.
|
||||
* This device can support a single 4-wire stepper motor, or two
|
||||
* 2-wire DC motors. The device contains an Atmel* ATmega8L
|
||||
* microcontroller that manages an L298N H-bridge driver chip.
|
||||
*
|
||||
* This device supports an I2C bus speed of 100Khz only.
|
||||
*
|
||||
* The module does not provide any telemetry or status - it only
|
||||
* accepts I2C commands for its various operations.
|
||||
*
|
||||
* This module was tested with version 1.3 of the I2C Motor
|
||||
* Driver.
|
||||
*
|
||||
* For stepper operation, this driver can run in one of two modes -
|
||||
* Mode 1, where this driver handles the stepping operation, and
|
||||
* Mode 2, where this driver simply sends commands to the
|
||||
* Motor Driver, and it handles the stepping operation. Mode2
|
||||
* requires updated (and working) firmware to be loaded onto the
|
||||
* device.
|
||||
*
|
||||
* The default stepper operation mode is Mode1, which is generally
|
||||
* more flexible and is supported on all firmware revisions.
|
||||
*
|
||||
* @image html md.jpg
|
||||
* An example showing the use of a DC motor
|
||||
* @snippet md.cxx Interesting
|
||||
* An example showing the use of a 4-wire stepper
|
||||
* @snippet md-stepper.cxx Interesting
|
||||
*/
|
||||
class MD {
|
||||
|
||||
public:
|
||||
// MD registers
|
||||
typedef enum { SET_SPEED = 0x82,
|
||||
SET_PWM_FREQ = 0x84,
|
||||
SET_DIRECTION = 0xaa,
|
||||
SET_MOTOR_A = 0xa1, // not documented
|
||||
SET_MOTOR_B = 0xa5, // not documented
|
||||
STEPPER_ENABLE = 0x1a,
|
||||
STEPPER_DISABLE = 0x1b,
|
||||
STEPPER_NUM_STEPS = 0x1c
|
||||
} REG_T;
|
||||
|
||||
// legal directions for the stepper
|
||||
typedef enum { STEP_DIR_CCW = 0x01,
|
||||
STEP_DIR_CW = 0x00
|
||||
} STEP_DIRECTION_T;
|
||||
|
||||
// legal directions for individual DC motors
|
||||
typedef enum { DIR_CCW = 0x02,
|
||||
DIR_CW = 0x01
|
||||
} DC_DIRECTION_T;
|
||||
|
||||
// stepper modes
|
||||
typedef enum { STEP_MODE1 = 0x00,
|
||||
STEP_MODE2 = 0x01
|
||||
} STEP_MODE_T;
|
||||
|
||||
/**
|
||||
* MD constructor
|
||||
*
|
||||
* @param bus I2C bus to use
|
||||
* @param address I2C address to use
|
||||
*/
|
||||
MD(int bus=MD_I2C_BUS,
|
||||
uint8_t address=MD_DEFAULT_I2C_ADDR);
|
||||
|
||||
/**
|
||||
* MD destructor
|
||||
*/
|
||||
~MD();
|
||||
|
||||
/**
|
||||
* Composes and writes a 3-byte packet to the controller
|
||||
*
|
||||
* @param reg Register location
|
||||
* @param data1 First byte of data
|
||||
* @param data2 Second byte of data
|
||||
* @return True if successful
|
||||
*/
|
||||
bool writePacket(REG_T reg, uint8_t data1, uint8_t data2);
|
||||
|
||||
/**
|
||||
* To control DC motors, sets the speed of motors A & B.
|
||||
* Valid values are 0-255.
|
||||
*
|
||||
* @param speedA Speed of motor A
|
||||
* @param speedB Speed of motor B
|
||||
* @return True if successful
|
||||
*/
|
||||
bool setMotorSpeeds(uint8_t speedA, uint8_t speedB);
|
||||
|
||||
/**
|
||||
* To control DC motors, sets the PWM frequency prescale
|
||||
* factor. Note: this register is not ducumented other than to say
|
||||
* the default value is 0x03. Presumably, this is the timer
|
||||
* prescale factor used on the ATMega MCU timer driving the PWM.
|
||||
*
|
||||
* @param freq PWM prescale frequency; default is 0x03
|
||||
* @return True if successful
|
||||
*/
|
||||
bool setPWMFrequencyPrescale(uint8_t freq=0x03);
|
||||
|
||||
/**
|
||||
* To control DC motors, sets the directions of motors A & B
|
||||
*
|
||||
* @param dirA Direction for motor A, DIR_CW or DIR_CCW
|
||||
* @param dirB Direction for motor B, DIR_CW or DIR_CCW
|
||||
* @return True if successful
|
||||
*/
|
||||
bool setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB);
|
||||
|
||||
/**
|
||||
* To control a stepper motor, sets its direction and speed, and
|
||||
* then starts operation. For Mode2, this method will return
|
||||
* immediately. For Mode1 (the default) this method returns when
|
||||
* the number of steps specified by setStepperSteps() has
|
||||
* completed.
|
||||
*
|
||||
* @param dir Direction, STEP_DIR_CW or STEP_DIR_CCW
|
||||
* @param speed Motor speed. Valid range is 1-255. For Mode 1
|
||||
* (default), this specifies the speed in RPM's. For Mode 2,
|
||||
* speed is multiplied by 4ms by the board, so higher numbers
|
||||
* will mean a slower speed.
|
||||
* @return True if successful
|
||||
*/
|
||||
bool enableStepper(STEP_DIRECTION_T dir, uint8_t speed);
|
||||
|
||||
/**
|
||||
* To control a stepper motor, stops the stepper motor.
|
||||
*
|
||||
* @return True if successful
|
||||
*/
|
||||
bool disableStepper();
|
||||
|
||||
/**
|
||||
* To control a stepper motor, specifies the number of steps to
|
||||
* execute. For Mode2, valid values are between 1-255, 255 means
|
||||
* continuous rotation.
|
||||
*
|
||||
* For Mode1 (the default) steps can be any positive integer.
|
||||
*
|
||||
* @param steps Number of steps to execute. 255 (only in Mode2)
|
||||
* means continuous rotation.
|
||||
* @return True if successful
|
||||
*/
|
||||
bool setStepperSteps(unsigned int steps);
|
||||
|
||||
/**
|
||||
* Configure the initial Stepper parameters. This should be
|
||||
* called before any other stepper method.
|
||||
*
|
||||
* @param stepsPerRev The number of steps required to complete one
|
||||
* full revolution.
|
||||
* @param mode The stepper operating mode, default STEP_MODE1
|
||||
* @return Elapsed milliseconds
|
||||
*/
|
||||
void configStepper(unsigned int stepsPerRev, STEP_MODE_T mode=STEP_MODE1);
|
||||
|
||||
protected:
|
||||
mraa::I2c m_i2c;
|
||||
uint8_t m_addr;
|
||||
|
||||
private:
|
||||
// steps per revolution
|
||||
int m_stepsPerRev;
|
||||
int m_currentStep;
|
||||
uint32_t m_stepDelay;
|
||||
uint32_t m_totalSteps;
|
||||
STEP_MODE_T m_stepMode;
|
||||
|
||||
/**
|
||||
* Steps the motor one tick
|
||||
*
|
||||
*/
|
||||
void stepperStep();
|
||||
|
||||
// step direction: - 1 = forward, -1 = backward
|
||||
int m_stepDirection;
|
||||
|
||||
// This is a NOOP value used to pad packets
|
||||
static const uint8_t MD_NOOP = 0x01;
|
||||
// our timer
|
||||
struct timeval m_startTime;
|
||||
|
||||
/**
|
||||
* Returns the number of milliseconds elapsed since initClock()
|
||||
* was last called.
|
||||
*
|
||||
* @return Elapsed milliseconds
|
||||
*/
|
||||
uint32_t getMillis();
|
||||
|
||||
/**
|
||||
* Resets the clock
|
||||
*
|
||||
*/
|
||||
void initClock();
|
||||
|
||||
};
|
||||
}
|
||||
|
||||
|
15
src/md/pyupm_md.i
Normal file
15
src/md/pyupm_md.i
Normal file
@ -0,0 +1,15 @@
|
||||
// Include doxygen-generated documentation
|
||||
%include "pyupm_doxy2swig.i"
|
||||
%module pyupm_md
|
||||
%include "../upm.i"
|
||||
|
||||
%feature("autodoc", "3");
|
||||
|
||||
#ifdef DOXYGEN
|
||||
%include "md_doc.i"
|
||||
#endif
|
||||
|
||||
%include "md.hpp"
|
||||
%{
|
||||
#include "md.hpp"
|
||||
%}
|
Loading…
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Reference in New Issue
Block a user