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105 lines
3.0 KiB
C++
105 lines
3.0 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014-2016 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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*
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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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#include <unistd.h>
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#include <iostream>
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#include <string>
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#include <stdexcept>
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#include "md.hpp"
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using namespace upm;
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using namespace std;
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MD::MD(int bus, uint8_t address) :
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m_md(md_init(bus, address))
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{
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if (!m_md)
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throw std::runtime_error(std::string(__FUNCTION__) +
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": md_init() failed");
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}
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MD::~MD()
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{
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md_close(m_md);
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}
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bool MD::writePacket(MD_REG_T reg, uint8_t data1, uint8_t data2)
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{
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if (!md_write_packet(m_md, reg, data1, data2))
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throw std::runtime_error(std::string(__FUNCTION__) +
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": md_write_packet() failed");
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return true;
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}
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bool MD::setMotorSpeeds(uint8_t speedA, uint8_t speedB)
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{
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if (!md_set_motor_speeds(m_md, speedA, speedB))
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throw std::runtime_error(std::string(__FUNCTION__) +
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": md_set_motor_speeds() failed");
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return true;
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}
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bool MD::setPWMFrequencyPrescale(uint8_t freq)
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{
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if (!md_set_pwm_frequency_prescale(m_md, freq))
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throw std::runtime_error(std::string(__FUNCTION__) +
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": md_set_pwm_frequency_prescale() failed");
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return true;
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}
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bool MD::setMotorDirections(MD_DC_DIRECTION_T dirA, MD_DC_DIRECTION_T dirB)
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{
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if (!md_set_motor_directions(m_md, dirA, dirB))
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throw std::runtime_error(std::string(__FUNCTION__) +
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": md_set_motor_directions() failed");
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return true;
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}
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bool MD::enableStepper(MD_STEP_DIRECTION_T dir, uint8_t speed)
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{
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return md_enable_stepper(m_md, dir, speed);
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}
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bool MD::disableStepper()
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{
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return md_disable_stepper(m_md);
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}
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bool MD::setStepperSteps(unsigned int steps)
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{
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return md_set_stepper_steps(m_md, steps);
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}
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void MD::configStepper(unsigned int stepsPerRev, MD_STEP_MODE_T mode)
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{
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md_config_stepper(m_md, stepsPerRev, mode);
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}
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