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Merge e3715918fb289b74b137bab7921ff541afe009da into ef81a2014004bc5a6bd8df19f9edd105a122db2b

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Deleted user 2018-07-24 21:39:48 +00:00 committed by GitHub
commit 8cf9e034c5
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2 changed files with 23 additions and 17 deletions
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15
src/smartdrive/smartdrive.cxx
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@ -1,7 +1,8 @@
/*
* The MIT License (MIT)
*
* Author: Oussema Harbi <oussema.elharbi@gmail.com>
* Authors: Oussema Harbi <oussema.elharbi@gmail.com> and
* Neuber Jose de Sousa <neuberfran@gmail.com>
* Copyright (c) <2016> <Oussema Harbi>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
@ -32,6 +33,8 @@
#include "smartdrive.hpp"
using namespace upm;
SmartDrive::SmartDrive(int i2c_bus, int address): m_smartdrive_control_address(address), m_i2c_smartdrive_control(i2c_bus)
@ -65,9 +68,9 @@ SmartDrive::readByte(uint8_t addr) {
}
void
SmartDrive::writeArray(uint8_t* array, uint8_t len) {
SmartDrive::writeArray(uint8_t* array, int size) {
try {
m_i2c_smartdrive_control.write(array, len);
m_i2c_smartdrive_control.write(array, size);
} catch (int e) {
std::cout << "Failed to write array values to address " << array[0] << " --> " << e << std::endl;
}
@ -146,7 +149,7 @@ SmartDrive::Run_Unlimited(int motor_id, int direction, uint8_t speed) {
uint8_t array [5] = {SmartDrive_SPEED_M1, speed, 0, 0, ctrl};
writeArray(array, sizeof(array));
}
if ( motor_id != SmartDrive_Motor_ID_1) {
if (motor_id != SmartDrive_Motor_ID_1) {
uint8_t array [5] = {SmartDrive_SPEED_M2, speed, 0, 0, ctrl};
writeArray(array, sizeof(array));
}
@ -179,11 +182,11 @@ SmartDrive::Run_Seconds(int motor_id, int direction, uint8_t speed, uint8_t dura
ctrl |= SmartDrive_CONTROL_GO;
if ( direction != SmartDrive_Dir_Forward )
speed = speed * -1;
if ( motor_id != SmartDrive_Motor_ID_2) {
if ((motor_id & SmartDrive_Motor_ID_2)!= 0) {
uint8_t array[5] = {SmartDrive_SPEED_M1, speed, duration, 0, ctrl};
writeArray(array, sizeof(array));
}
if ( motor_id != SmartDrive_Motor_ID_1) {
if ((motor_id & SmartDrive_Motor_ID_1)!= 0) {
uint8_t array[5] = {SmartDrive_SPEED_M2, speed, duration, 0, ctrl};
writeArray(array, sizeof(array));
}

13
src/smartdrive/smartdrive.hpp
View File

@ -1,7 +1,8 @@
/*
* The MIT License (MIT)
*
* Author: Oussema Harbi <oussema.elharbi@gmail.com>
* Authors: Oussema Harbi <oussema.elharbi@gmail.com> and
* Neuber Jose de Sousa <neuberfran@gmail.com>
* Copyright (c) <2016> <Oussema Harbi>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
@ -24,6 +25,8 @@
#pragma once
#include <mraa/i2c.hpp>
//We can use direct integer IDs,
@ -134,7 +137,7 @@ namespace upm {
/**
* @library smartdrive
* @sensor smartdrive
* @comname SmartDrive Advanced Motor Controller
* @comname SmartDrive advanced motor controller
* @altname smartdrive
* @type motor
* @man openelectrons
@ -154,8 +157,7 @@ class SmartDrive {
public:
/**
* Initialize the class with the i2c address of your SmartDrive
* @param i2c_bus I2C bus to use.
* @param address Address of your SmartDrive.
* @param SmartDrive_address Address of your SmartDrive.
*/
SmartDrive(int i2c_bus, int address = SmartDrive_DefaultAddress);
@ -239,6 +241,7 @@ public:
/**
* Turns the specified motor(s) for given absolute tacheometer count
* @param motor_id Number of the motor(s) you wish to turn.
* @param direction The direction you wish to turn the motor(s).
* @param speed The speed at which you wish to turn the motor(s).
* @param tacho_count The absolute tacheometer count you wish to turn the motor(s).
* @param wait_for_completion Tells the program when to handle the next line of code.
@ -288,7 +291,7 @@ public:
private:
void writeByte(uint8_t addr, uint8_t value);
void writeArray(uint8_t* array, uint8_t len);
void writeArray(uint8_t* array, int size);
uint8_t readByte(uint8_t addr);
uint16_t readInteger(uint8_t addr);
uint32_t readLongSigned(uint8_t addr);