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adafruitms1438: Initial implementation
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
committed by
Mihai Tudor Panu
Mihai Tudor Panu
parent
2aa24162c3
commit
da0071ae71
10
src/adafruitms1438/CMakeLists.txt
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10
src/adafruitms1438/CMakeLists.txt
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@ -0,0 +1,10 @@
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set (libname "adafruitms1438")
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set (libdescription "upm module for the Adafruit Motor Shield 1438")
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set (module_src ${libname}.cxx)
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set (module_h ${libname}.h)
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set (reqlibname "upm-pca9685")
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include_directories("../pca9685")
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upm_module_init()
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target_link_libraries(${libname} pca9685)
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swig_link_libraries (jsupm_${libname} -lupm-pca9685 ${MRAA_LIBRARIES} ${NODE_LIBRARIES})
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swig_link_libraries (pyupm_${libname} -lupm-pca9685 ${PYTHON_LIBRARIES} ${MRAA_LIBRARIES})
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305
src/adafruitms1438/adafruitms1438.cxx
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305
src/adafruitms1438/adafruitms1438.cxx
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@ -0,0 +1,305 @@
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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,
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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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*
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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
|
||||
* 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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#include <unistd.h>
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#include <math.h>
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#include <iostream>
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#include <string>
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#include "adafruitms1438.h"
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using namespace upm;
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using namespace std;
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AdafruitMS1438::AdafruitMS1438(int bus, uint8_t address) :
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m_pca9685(new PCA9685(bus, address))
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{
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setupPinMaps();
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// set a default period of 50Hz
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setPWMPeriod(50);
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// disable all PWM's (4 of them). They are shared with each other
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// (stepper/DC), so just disable the DC motors here
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disableMotor(MOTOR_M1);
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disableMotor(MOTOR_M2);
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disableMotor(MOTOR_M3);
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disableMotor(MOTOR_M4);
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// Set all 'on time' registers to 0
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m_pca9685->ledOnTime(PCA9685_ALL_LED, 0);
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// set the default stepper config at 200 steps per rev
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stepConfig(STEPMOTOR_M12, 200);
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stepConfig(STEPMOTOR_M34, 200);
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}
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AdafruitMS1438::~AdafruitMS1438()
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{
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delete m_pca9685;
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}
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void AdafruitMS1438::initClock(STEPMOTORS_T motor)
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{
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gettimeofday(&m_stepConfig[motor].startTime, NULL);
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}
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uint32_t AdafruitMS1438::getMillis(STEPMOTORS_T motor)
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{
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struct timeval elapsed, now;
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uint32_t elapse;
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// get current time
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gettimeofday(&now, NULL);
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struct timeval startTime = m_stepConfig[motor].startTime;
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// compute the delta since m_startTime
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if( (elapsed.tv_usec = now.tv_usec - startTime.tv_usec) < 0 )
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{
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elapsed.tv_usec += 1000000;
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elapsed.tv_sec = now.tv_sec - startTime.tv_sec - 1;
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}
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else
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{
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elapsed.tv_sec = now.tv_sec - startTime.tv_sec;
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}
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elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
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// never return 0
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if (elapse == 0)
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elapse = 1;
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return elapse;
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}
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// setup the pin mappings of the pca9685 outputs to the proper motor controls
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void AdafruitMS1438::setupPinMaps()
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{
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// first the dc motors
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m_dcMotors[0] = (DC_PINMAP_T){ 8, 10, 9 };
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m_dcMotors[1] = (DC_PINMAP_T){ 13, 11, 12 };
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m_dcMotors[2] = (DC_PINMAP_T){ 2, 4, 3 };
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m_dcMotors[3] = (DC_PINMAP_T){ 7, 5, 6 };
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// now the 2 steppers
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m_stepMotors[0] = (STEPPER_PINMAP_T){ 8, 10, 9,
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13, 11, 12 };
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m_stepMotors[1] = (STEPPER_PINMAP_T){ 2, 4, 3,
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7, 5, 6 };
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}
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void AdafruitMS1438::setPWMPeriod(float hz)
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{
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// must be in sleep mode to set the prescale register
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m_pca9685->setModeSleep(true);
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m_pca9685->setPrescaleFromHz(hz);
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m_pca9685->setModeSleep(false);
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}
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void AdafruitMS1438::enableMotor(DCMOTORS_T motor)
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{
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m_pca9685->ledFullOff(m_dcMotors[motor].pwm, false);
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}
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void AdafruitMS1438::disableMotor(DCMOTORS_T motor)
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{
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m_pca9685->ledFullOff(m_dcMotors[motor].pwm, true);
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}
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void AdafruitMS1438::enableStepper(STEPMOTORS_T motor)
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{
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m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, false);
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m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, false);
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}
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void AdafruitMS1438::disableStepper(STEPMOTORS_T motor)
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{
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m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
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}
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void AdafruitMS1438::setMotorSpeed(DCMOTORS_T motor, int speed)
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{
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if (speed < 0)
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speed = 0;
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if (speed > 100)
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speed = 100;
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float percent = float(speed) / 100.0;
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m_pca9685->ledOffTime(m_dcMotors[motor].pwm, int(4095.0 * percent));
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}
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void AdafruitMS1438::setStepperSpeed(STEPMOTORS_T motor, int speed)
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{
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m_stepConfig[motor].stepDelay = 60 * 1000 /
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m_stepConfig[motor].stepsPerRev / speed;
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}
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void AdafruitMS1438::setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir)
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{
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if (dir & 0x01)
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{
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m_pca9685->ledFullOn(m_dcMotors[motor].in1, true);
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m_pca9685->ledFullOff(m_dcMotors[motor].in1, false);
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}
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else
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{
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m_pca9685->ledFullOff(m_dcMotors[motor].in1, true);
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m_pca9685->ledFullOn(m_dcMotors[motor].in1, false);
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}
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if (dir & 0x02)
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{
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m_pca9685->ledFullOn(m_dcMotors[motor].in2, true);
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m_pca9685->ledFullOff(m_dcMotors[motor].in2, false);
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}
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else
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{
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m_pca9685->ledFullOff(m_dcMotors[motor].in2, true);
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m_pca9685->ledFullOn(m_dcMotors[motor].in2, false);
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}
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}
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void AdafruitMS1438::setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir)
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{
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switch (dir)
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{
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case DIR_CW:
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m_stepConfig[motor].stepDirection = 1;
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break;
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case DIR_CCW:
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m_stepConfig[motor].stepDirection = -1;
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break;
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default: // default to 1 if DIR_NONE specified
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m_stepConfig[motor].stepDirection = 1;
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break;
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}
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}
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void AdafruitMS1438::stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev)
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{
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m_stepConfig[motor].stepsPerRev = stepsPerRev;
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m_stepConfig[motor].currentStep = 0;
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m_stepConfig[motor].stepDelay = 0;
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m_stepConfig[motor].stepDirection = 1; // forward
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// now, setup the control pins - we want both FULL ON and FULL OFF.
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// Since FULL OFF has precedence, we can then control the steps by
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// just turning on/off the FULL OFF bit for the relevant outputs
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m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
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m_pca9685->ledFullOn(m_stepMotors[motor].pwmA, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
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m_pca9685->ledFullOn(m_stepMotors[motor].pwmB, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
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m_pca9685->ledFullOn(m_stepMotors[motor].in1A, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
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m_pca9685->ledFullOn(m_stepMotors[motor].in2A, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
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m_pca9685->ledFullOn(m_stepMotors[motor].in1B, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
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m_pca9685->ledFullOn(m_stepMotors[motor].in2B, true);
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}
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void AdafruitMS1438::stepperStep(STEPMOTORS_T motor)
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{
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int step = m_stepConfig[motor].currentStep % 4;
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// Step I0 I1 I2 I3
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// 1 1 0 1 0
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// 2 0 1 1 0
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// 3 0 1 0 1
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// 4 1 0 0 1
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// we invert the logic since we are essentially toggling an OFF bit,
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// not an ON bit.
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switch (step)
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{
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case 0: // 1010
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m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
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break;
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case 1: // 0110
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m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
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m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
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break;
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case 2: //0101
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m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
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m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
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break;
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case 3: //1001
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m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
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m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
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break;
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}
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}
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void AdafruitMS1438::stepperSteps(STEPMOTORS_T motor, unsigned int steps)
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{
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while (steps > 0)
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{
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if (getMillis(motor) >= m_stepConfig[motor].stepDelay)
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{
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// reset the clock
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initClock(motor);
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m_stepConfig[motor].currentStep += m_stepConfig[motor].stepDirection;
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if (m_stepConfig[motor].stepDirection == 1)
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{
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if (m_stepConfig[motor].currentStep >=
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m_stepConfig[motor].stepsPerRev)
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m_stepConfig[motor].currentStep = 0;
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}
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else
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{
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if (m_stepConfig[motor].currentStep <= 0)
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m_stepConfig[motor].currentStep =
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m_stepConfig[motor].stepsPerRev;
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}
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steps--;
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stepperStep(motor);
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}
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}
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}
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244
src/adafruitms1438/adafruitms1438.h
Normal file
244
src/adafruitms1438/adafruitms1438.h
Normal file
@ -0,0 +1,244 @@
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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
|
||||
* 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.
|
||||
*/
|
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#pragma once
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#include <stdint.h>
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#include <sys/time.h>
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#include <string>
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#include <mraa/i2c.h>
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#include <mraa/gpio.h>
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#include "pca9685.h"
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#define ADAFRUITMS1438_I2C_BUS 0
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#define ADAFRUITMS1438_DEFAULT_I2C_ADDR 0x60
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namespace upm {
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/**
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* @brief UPM module for the Adafruit Motor Shield 1438
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* @defgroup adafruitms1438 libupm-adafruitms1438
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*/
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|
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/**
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* @brief C++ API for the ADAFRUITMS1438 motor shield
|
||||
*
|
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* This class implements support for the stepper and DC motors that
|
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* can be connected to this Motor Shield.
|
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* http://www.adafruit.com/products/1438
|
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*
|
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* NOTE: The two servo connections are not actually controlled by
|
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* 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
|
||||
*/
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||||
class AdafruitMS1438 {
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public:
|
||||
|
||||
/**
|
||||
* Enum to specify the direction of a motor
|
||||
*/
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||||
typedef enum {
|
||||
DIR_NONE = 0x00,
|
||||
DIR_CW = 0x01,
|
||||
DIR_CCW = 0x02
|
||||
} DIRECTION_T;
|
||||
|
||||
/**
|
||||
* Enum to specify a DC motor
|
||||
*/
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||||
typedef enum {
|
||||
MOTOR_M1 = 0,
|
||||
MOTOR_M2 = 1,
|
||||
MOTOR_M3 = 2,
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||||
MOTOR_M4 = 3
|
||||
} DCMOTORS_T;
|
||||
|
||||
/**
|
||||
* Enum to specify a Stepper motor
|
||||
*/
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||||
typedef enum {
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||||
STEPMOTOR_M12 = 0,
|
||||
STEPMOTOR_M34 = 1
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||||
} STEPMOTORS_T;
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||||
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||||
/**
|
||||
* 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;
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
8
src/adafruitms1438/jsupm_adafruitms1438.i
Normal file
8
src/adafruitms1438/jsupm_adafruitms1438.i
Normal file
@ -0,0 +1,8 @@
|
||||
%module jsupm_adafruitms1438
|
||||
%include "../upm.i"
|
||||
|
||||
%{
|
||||
#include "adafruitms1438.h"
|
||||
%}
|
||||
|
||||
%include "adafruitms1438.h"
|
||||
13
src/adafruitms1438/pyupm_adafruitms1438.i
Normal file
13
src/adafruitms1438/pyupm_adafruitms1438.i
Normal file
@ -0,0 +1,13 @@
|
||||
%module pyupm_adafruitms1438
|
||||
%include "../upm.i"
|
||||
|
||||
%feature("autodoc", "3");
|
||||
|
||||
#ifdef DOXYGEN
|
||||
%include "adafruitms1438_doc.i"
|
||||
#endif
|
||||
|
||||
%include "adafruitms1438.h"
|
||||
%{
|
||||
#include "adafruitms1438.h"
|
||||
%}
|
||||
Reference in New Issue
Block a user