/* * Author: Jon Trulson * 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 #include namespace upm { /** * @brief I2C Motor Driver library * @defgroup md libupm-md * @ingroup seeed i2c motor robok */ /** * @library md * @sensor md * @comname I2C Motor Driver * @altname Grove 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 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(MD_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(MD_DC_DIRECTION_T dirA, MD_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(MD_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, MD_STEP_MODE_T mode=MD_STEP_MODE1); protected: md_context m_md; }; }