Grove: Reverting Grove sources

Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>

src/grove/CMakeLists.txt

@@ -1,7 +1,5 @@
-upm_mixed_module_init (NAME grove
-    DESCRIPTION "upm grove module"
-    CPP_HDR groveled.hpp
-            grovetemp.hpp grovebase.hpp grove.hpp
-    CPP_SRC groveled.cxx
-            grovetemp.cxx
-    REQUIRES mraa)
+set (libname "grove")
+set (libdescription "upm grove module")
+set (module_src grovebutton.cxx groveled.cxx grovelight.cxx groverelay.cxx groverotary.cxx groveslide.cxx grovetemp.cxx)
+set (module_hpp grovebutton.hpp groveled.hpp grovelight.hpp groverelay.hpp groverotary.hpp groveslide.hpp grovetemp.hpp grovebase.hpp grove.hpp)
+upm_module_init()

src/grove/grove.hpp

@@ -25,6 +25,10 @@
  */
 #pragma once
 
-#include <button.hpp>
+#include <grovebutton.hpp>
 #include <groveled.hpp>
+#include <grovelight.hpp>
+#include <groverelay.hpp>
+#include <groverotary.hpp>
+#include <groveslide.hpp>
 #include <grovetemp.hpp>

src/grove/grovebutton.cxx

@@ -0,0 +1,82 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "grovebutton.hpp"
+
+using namespace upm;
+
+GroveButton::GroveButton(unsigned int pin)
+{
+    if ( !(m_gpio = mraa_gpio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_gpio_init() failed, invalid pin?");
+        return;
+    }
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_IN);
+    m_name = "Button Sensor";
+}
+
+GroveButton::~GroveButton()
+{
+    mraa_gpio_close(m_gpio);
+}
+
+std::string GroveButton::name()
+{
+    return m_name;
+}
+
+int GroveButton::value()
+{
+    return mraa_gpio_read(m_gpio);
+}
+
+#ifdef JAVACALLBACK
+void GroveButton::installISR(mraa::Edge level, jobject runnable)
+{
+  installISR(level, mraa_java_isr_callback, runnable);
+}
+#endif
+
+void GroveButton::installISR(mraa::Edge level, void (*isr)(void *), void *arg)
+{
+  if (m_isrInstalled)
+    uninstallISR();
+
+  // install our interrupt handler
+  mraa_gpio_isr(m_gpio, (mraa_gpio_edge_t) level, isr, arg);
+  m_isrInstalled = true;
+}
+
+void GroveButton::uninstallISR()
+{
+  mraa_gpio_isr_exit(m_gpio);
+  m_isrInstalled = false;
+}

src/grove/grovebutton.hpp

@@ -0,0 +1,104 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <string>
+#include <mraa/gpio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor grovebutton
+ * @comname Grove Button
+ * @altname Grove Touch Sensor
+ * @type button touch
+ * @man seeed
+ * @con gpio
+ * @kit gsk
+ *
+ * @brief API for the Grove Button
+ *
+ * Basic UPM module for the Grove button
+ *
+ * @image html grovebutton.jpg
+ * @snippet grovebutton.cxx Interesting
+ */
+class GroveButton: public Grove {
+    public:
+        /**
+         * Grove button constructor
+         *
+         * @param gpio Pin to use
+         */
+        GroveButton(unsigned int pin);
+        /**
+         * Grove button destructor
+         */
+        ~GroveButton();
+        /**
+         * Gets the name of the sensor
+         *
+         * @return Name of this sensor
+         */
+        std::string name();
+        /**
+         * Gets the value from the GPIO pin
+         *
+         * @return Value from the GPIO pin
+         */
+        int value();
+
+        /**
+         * Installs an interrupt service routine (ISR) to be called when
+         * the button is activated or deactivated.
+         *
+         * @param fptr Pointer to a function to be called on interrupt
+         * @param arg Pointer to an object to be supplied as an
+         * argument to the ISR.
+         */
+#if defined(SWIGJAVA) || defined(JAVACALLBACK)
+        void installISR(mraa::Edge level, jobject runnable);
+#else
+        void installISR(mraa::Edge level, void (*isr)(void *), void *arg);
+#endif
+        /**
+         * Uninstalls the previously installed ISR
+         *
+         */
+        void uninstallISR();
+
+    private:
+#if defined(SWIGJAVA) || defined(JAVACALLBACK)
+        void installISR(mraa::Edge level, void (*isr)(void *), void *arg);
+#endif
+        bool m_isrInstalled;
+        std::string m_name;
+        mraa_gpio_context m_gpio;
+};
+}

src/grove/grovelight.cxx

@@ -0,0 +1,63 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "grovelight.hpp"
+#include "math.h"
+
+using namespace upm;
+
+GroveLight::GroveLight(unsigned int pin)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_aio_init() failed, invalid pin?");
+        return;
+    }
+    m_name = "Light Sensor";
+}
+
+GroveLight::~GroveLight()
+{
+    mraa_aio_close(m_aio);
+}
+
+int GroveLight::value()
+{
+    // rough conversion to lux, using formula from Grove Starter Kit booklet
+    float a = (float) mraa_aio_read(m_aio);
+    if (a == -1.0) return -1;
+    a = 10000.0/pow(((1023.0-a)*10.0/a)*15.0,4.0/3.0);
+    return (int) round(a);
+}
+
+float GroveLight::raw_value()
+{
+    return (float) mraa_aio_read(m_aio);
+}

src/grove/grovelight.hpp

@@ -0,0 +1,82 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <string>
+#include <mraa/aio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor grovelight
+ * @comname Grove Light Sensor
+ * @type light
+ * @man seeed
+ * @con analog
+ * @kit gsk
+ *
+ * @brief API for the Grove Light Sensor
+ *
+ * The Grove light sensor detects the intensity of the ambient light.
+ * As the light intensity of the environment increases, the resistance
+ * of the sensor decreases. This means the raw value from the
+ * analog pin is larger in bright light and smaller in the dark.
+ * An approximate lux value can also be returned.
+ *
+ * @image html grovelight.jpg
+ * @snippet grovelight.cxx Interesting
+ */
+class GroveLight: public Grove {
+    public:
+        /**
+         * Grove analog light sensor constructor
+         *
+         * @param pin Analog pin to use
+         */
+        GroveLight(unsigned int pin);
+        /**
+         * GroveLight destructor
+         */
+        ~GroveLight();
+        /**
+         * Gets the raw value from the AIO pin
+         *
+         * @return Raw value from the ADC
+         */
+        float raw_value();
+        /**
+         * Gets an approximate light value, in lux, from the sensor
+         *
+         * @return Normalized light reading in lux
+         */
+        int value();
+    private:
+        mraa_aio_context m_aio;
+};
+}

src/grove/groverelay.cxx

@@ -0,0 +1,69 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "groverelay.hpp"
+
+using namespace upm;
+
+GroveRelay::GroveRelay(unsigned int pin)
+{
+    if ( !(m_gpio = mraa_gpio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_gpio_init() failed, invalid pin?");
+        return;
+    }
+    mraa_gpio_dir(m_gpio, MRAA_GPIO_OUT);
+    m_name = "Relay Switch";
+}
+
+GroveRelay::~GroveRelay()
+{
+    mraa_gpio_close(m_gpio);
+}
+
+mraa_result_t GroveRelay::on()
+{
+    return mraa_gpio_write(m_gpio, 1);
+}
+
+mraa_result_t GroveRelay::off()
+{
+    return mraa_gpio_write(m_gpio, 0);
+}
+
+bool GroveRelay::isOn()
+{
+    return mraa_gpio_read(m_gpio) == 1;
+}
+
+bool GroveRelay::isOff()
+{
+    return mraa_gpio_read(m_gpio) == 0;
+}

src/grove/groverelay.hpp

@@ -0,0 +1,95 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <string>
+#include <mraa/gpio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor groverelay
+ * @comname Grove Relay
+ * @type relay
+ * @man seeed
+ * @con gpio
+ * @kit gsk eak hak
+ *
+ * @brief API for the Grove Relay
+ *
+ * UPM module for the Grove relay switch. The Grove relay is a
+ * digital normally-open switch that uses low voltage or current to
+ * control a higher voltage and/or higher current.  When closed,
+ * the indicator LED lights up and current is allowed to flow.
+ *
+ * @image html groverelay.jpg
+ * @snippet groverelay.cxx Interesting
+ */
+class GroveRelay: public Grove {
+    public:
+        /**
+         * Grove relay constructor
+         *
+         * @param gpio Pin to use
+         */
+        GroveRelay(unsigned int pin);
+        /**
+         * Grove relay destructor
+         */
+        ~GroveRelay();
+        /**
+         * Sets the relay switch to on (closed). This allows current
+         * to flow and lights up the indicator LED.
+         *
+         * @return 0 if successful, non-zero otherwise
+         */
+        mraa_result_t on();
+        /**
+         * Sets the relay switch to off (open). This stops current
+         * from flowing and the indicator LED is not lit.
+         *
+         * @return 0 if successful, non-zero otherwise
+         */
+        mraa_result_t off();
+        /**
+         * Defines whether the relay switch is closed.
+         *
+         * @return True if the switch is on (closed), false otherwise
+         */
+        bool isOn();
+        /**
+         * Defines whether the relay switch is open.
+         *
+         * @return True if the switch is off (open), false otherwise
+         */
+        bool isOff();
+    private:
+        mraa_gpio_context m_gpio;
+};
+}

src/grove/groverotary.cxx

@@ -0,0 +1,79 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "groverotary.hpp"
+#include "math.h"
+
+using namespace upm;
+
+GroveRotary::GroveRotary(unsigned int pin)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_aio_init() failed, invalid pin?");
+        return;
+    }
+    m_name = "Rotary Angle Sensor";
+}
+
+GroveRotary::~GroveRotary()
+{
+    mraa_aio_close(m_aio);
+}
+
+float GroveRotary::abs_value()
+{
+    return (float) mraa_aio_read(m_aio);
+}
+
+float GroveRotary::abs_deg()
+{
+    return GroveRotary::abs_value() * (float) m_max_angle / 1023.0;
+}
+
+float GroveRotary::abs_rad()
+{
+    return GroveRotary::abs_deg() * M_PI / 180.0;
+}
+
+float GroveRotary::rel_value()
+{
+    return GroveRotary::abs_value() - 512.0;
+}
+
+float GroveRotary::rel_deg()
+{
+    return GroveRotary::rel_value() * (float) m_max_angle / 1023.0;
+}
+
+float GroveRotary::rel_rad()
+{
+    return GroveRotary::rel_deg() * M_PI / 180.0;
+}

src/grove/groverotary.hpp

@@ -0,0 +1,106 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <string>
+#include <mraa/aio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor groverotary
+ * @comname Grove Rotary Angle Sensor
+ * @altname Rotary Potentiometer
+ * @type ainput
+ * @man seeed
+ * @con analog
+ * @kit gsk
+ *
+ * @brief API for the Grove Rotary Angle Sensor (Knob)
+ *
+ * Basic UPM module for the Grove rotary angle sensor (knob) on analog. Provides
+ * a set of functions to read the absolute pin value, degrees or radians, and another set
+ * to do the same relative to the center of the knob's range.
+ *
+ * @image html groverotary.jpeg
+ * @snippet groverotary.cxx Interesting
+ */
+class GroveRotary: public Grove {
+    public:
+        /**
+         * Grove rotary angle sensor constructor
+         *
+         * @param pin Number of the analog pin to use
+         */
+        GroveRotary(unsigned int pin);
+        /**
+         * GroveRotary destructor
+         */
+        ~GroveRotary();
+        /**
+         * Gets the absolute raw value from the AIO pin
+         *
+         * @return Unsigned value from the ADC
+         */
+        float abs_value();
+        /**
+         * Gets absolute raw degrees from the AIO pin
+         *
+         * @return Unsigned degrees from the ADC
+         */
+        float abs_deg();
+        /**
+         * Gets absolute raw radians from the AIO pin
+         *
+         * @return Unsigned radians from the ADC
+         */
+        float abs_rad();
+        /**
+         * Gets the relative value from the AIO pin
+         *
+         * @return Signed value from the ADC
+         */
+        float rel_value();
+        /**
+         * Gets relative degrees from the AIO pin
+         *
+         * @return Signed degrees from the ADC
+         */
+        float rel_deg();
+        /**
+         * Gets relative radians from the AIO pin
+         *
+         * @return Signed radians from the ADC
+         */
+        float rel_rad();
+    private:
+        mraa_aio_context m_aio;
+        static const int m_max_angle = 300;
+};
+}

src/grove/groveslide.cxx

@@ -0,0 +1,68 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <iostream>
+#include <string>
+#include <stdexcept>
+
+#include "groveslide.hpp"
+#include "math.h"
+
+using namespace upm;
+
+GroveSlide::GroveSlide(unsigned int pin, float ref_voltage)
+{
+    if ( !(m_aio = mraa_aio_init(pin)) ) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_aio_init() failed, invalid pin?");
+        return;
+    }
+    m_ref_voltage = ref_voltage;
+    m_name = "Slide Potentiometer";
+}
+
+GroveSlide::~GroveSlide()
+{
+    mraa_aio_close(m_aio);
+}
+
+float GroveSlide::raw_value()
+{
+    return (float) mraa_aio_read(m_aio);
+}
+
+float GroveSlide::voltage_value()
+{
+    // conversion to Volts
+    float a = GroveSlide::raw_value();
+    a = m_ref_voltage * a / 1023.0 ;
+    return a;
+}
+
+float GroveSlide::ref_voltage()
+{
+    return m_ref_voltage;
+}

src/grove/groveslide.hpp

@@ -0,0 +1,87 @@
+/*
+ * Authors: Brendan Le Foll <brendan.le.foll@intel.com>
+ *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
+ *          Sarah Knepper <sarah.knepper@intel.com>
+ * Copyright (c) 2014 - 2016 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 <string>
+#include <mraa/aio.hpp>
+#include "grovebase.hpp"
+
+namespace upm {
+
+/**
+ * @library grove
+ * @sensor groveslide
+ * @comname Grove Slide Potentiometer
+ * @type ainput
+ * @man seeed
+ * @con analog
+ *
+ * @brief API for the Grove Slide Potentiometer
+ *
+ * Basic UPM module for the Grove slide potentiometer on analog that
+ * returns either a raw value or a scaled voltage value.
+ *
+ * @image html groveslide.jpeg
+ * @snippet groveslide.cxx Interesting
+ */
+class GroveSlide: public Grove {
+    public:
+        /**
+         * Grove analog slide potentiometer constructor
+         *
+         * @param pin Number of the analog pin to use
+         *
+         * @param ref_voltage Reference voltage the board is set to, as a floating-point value; default is 5.0V
+         */
+        GroveSlide(unsigned int pin, float ref_voltage = 5.0);
+        /**
+         * GroveSlide destructor
+         */
+        ~GroveSlide();
+        /**
+         * Gets the raw value from the AIO pin
+         *
+         * @return Raw value from the ADC
+         */
+        float raw_value();
+        /**
+         * Gets the voltage value from the pin
+         *
+         * @return Voltage reading based on the reference voltage
+         */
+        float voltage_value();
+        /**
+         * Gets the board's reference voltage passed on object initialization
+         *
+         * @return Reference voltage the class was set for
+         */
+        float ref_voltage();
+    private:
+        mraa_aio_context m_aio;
+        float m_ref_voltage;
+};
+}

src/grove/javaupm_grove.i

@@ -14,11 +14,36 @@
     #include "grovebase.hpp"
 %}
 
+%include "grovebutton.hpp"
+%{
+    #include "grovebutton.hpp"
+%}
+
 %include "groveled.hpp"
 %{
     #include "groveled.hpp"
 %}
 
+%include "grovelight.hpp"
+%{
+    #include "grovelight.hpp"
+%}
+
+%include "groverelay.hpp"
+%{
+    #include "groverelay.hpp"
+%}
+
+%include "groverotary.hpp"
+%{
+    #include "groverotary.hpp"
+%}
+
+%include "groveslide.hpp"
+%{
+    #include "groveslide.hpp"
+%}
+
 %include "grovetemp.hpp"
 %{
     #include "grovetemp.hpp"

src/grove/jsupm_grove.i

@@ -11,11 +11,36 @@
     #include "grovebase.hpp"
 %}
 
+%include "grovebutton.hpp"
+%{
+    #include "grovebutton.hpp"
+%}
+
 %include "groveled.hpp"
 %{
     #include "groveled.hpp"
 %}
 
+%include "grovelight.hpp"
+%{
+    #include "grovelight.hpp"
+%}
+
+%include "groverelay.hpp"
+%{
+    #include "groverelay.hpp"
+%}
+
+%include "groverotary.hpp"
+%{
+    #include "groverotary.hpp"
+%}
+
+%include "groveslide.hpp"
+%{
+    #include "groveslide.hpp"
+%}
+
 %include "grovetemp.hpp"
 %{
     #include "grovetemp.hpp"

src/grove/pyupm_grove.i

@@ -15,11 +15,36 @@
     #include "grovebase.hpp"
 %}
 
+%include "grovebutton.hpp"
+%{
+    #include "grovebutton.hpp"
+%}
+
 %include "groveled.hpp"
 %{
     #include "groveled.hpp"
 %}
 
+%include "grovelight.hpp"
+%{
+    #include "grovelight.hpp"
+%}
+
+%include "groverelay.hpp"
+%{
+    #include "groverelay.hpp"
+%}
+
+%include "groverotary.hpp"
+%{
+    #include "groverotary.hpp"
+%}
+
+%include "groveslide.hpp"
+%{
+    #include "groveslide.hpp"
+%}
+
 %include "grovetemp.hpp"
 %{
     #include "grovetemp.hpp"