h3n3/darkwater_cplus_640
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Initial motor test

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This commit is contained in:
shrkey
2016-10-09 22:15:36 +01:00
parent 676a333ef6
commit 08f2af0df6
3 changed files with 105 additions and 11 deletions
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99
darkwater/DW640.cpp
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@@ -104,7 +104,6 @@ void DW640::setMode(uint8_t mode) {
* @param Channel number (0-15)
* @param Offset (0-4095)
* @param Length (0-4095)
* @see PCA9685_RA_LED0_ON_L
*/
void DW640::setPWM(uint8_t channel, uint16_t offset, uint16_t length) {
this->pwm->setPWM( channel, offset, length );
@@ -113,7 +112,6 @@ void DW640::setPWM(uint8_t channel, uint16_t offset, uint16_t length) {
/** Set channel's pulse length
* @param Channel number (0-15)
* @param Length (0-4095)
* @see PCA9685_RA_LED0_ON_L
*/
void DW640::setPWM(uint8_t channel, uint16_t length) {
this->pwm->setPWM(channel, length);
@@ -122,7 +120,6 @@ void DW640::setPWM(uint8_t channel, uint16_t length) {
/** Set channel's pulse length in milliseconds
* @param Channel number (0-15)
* @param Length in milliseconds
* @see PCA9685_RA_LED0_ON_L
*/
void DW640::setPWMmS(uint8_t channel, float length_mS) {
this->pwm->setPWMmS(channel, length_mS);
@@ -131,7 +128,6 @@ void DW640::setPWMmS(uint8_t channel, float length_mS) {
/** Set channel's pulse length in microseconds
* @param Channel number (0-15)
* @param Length in microseconds
* @see PCA9685_RA_LED0_ON_L
*/
void DW640::setPWMuS(uint8_t channel, float length_uS) {
this->pwm->setPWMuS(channel, length_uS);
@@ -140,7 +136,6 @@ void DW640::setPWMuS(uint8_t channel, float length_uS) {
/** Set start offset of the pulse and it's length for all channels
* @param Offset (0-4095)
* @param Length (0-4095)
* @see PCA9685_RA_ALL_LED_ON_L
*/
void DW640::setAllPWM(uint16_t offset, uint16_t length) {
this->pwm->setAllPWM(offset, length);
@@ -148,7 +143,6 @@ void DW640::setAllPWM(uint16_t offset, uint16_t length) {
/** Set pulse length for all channels
* @param Length (0-4095)
* @see PCA9685_RA_ALL_LED_ON_L
*/
void DW640::setAllPWM(uint16_t length) {
this->pwm->setAllPWM(length);
@@ -156,7 +150,6 @@ void DW640::setAllPWM(uint16_t length) {
/** Set pulse length in milliseconds for all channels
* @param Length in milliseconds
* @see PCA9685_RA_ALL_LED_ON_L
*/
void DW640::setAllPWMmS(float length_mS) {
this->pwm->setAllPWMmS(length_mS);
@@ -164,7 +157,6 @@ void DW640::setAllPWMmS(float length_mS) {
/** Set pulse length in microseconds for all channels
* @param Length in microseconds
* @see PCA9685_RA_ALL_LED_ON_L
*/
void DW640::setAllPWMuS(float length_uS) {
this->pwm->setAllPWMuS(length_uS);
@@ -195,4 +187,95 @@ void DW640::setAllPin(uint8_t value) {
fprintf(stderr, "Pin value must be 0 or 1!");
}
}
void DW640::allOff() {
setAllPin( 0 );
}
/* DC Motor specific code */
void DW640::setMotorSpeed(uint8_t motor, uint16_t speed) {
uint8_t in1;
uint8_t in2;
// Get the motor
switch(motor) {
case 1:
in2 = 2;
in1 = 3;
break;
case 2:
in2 = 4;
in1 = 5;
break;
case 3:
in2 = 6;
in1 = 7;
break;
case 4:
in2 = 8;
in1 = 9;
break;
case 5:
in2 = 10;
in1 = 11;
break;
case 6:
in2 = 12;
in1 = 13;
break;
default:
fprintf(stderr, "Motor number must be between 1 and 6 inclusive");
}
// Speed deciphering for the two control modes
if( speed >= 1000 && speed < 1500 ) {
} else if( speed > 1500 && speed <= 2000 ) {
} else if( speed > 0 && speed <= 255 ) {
runMotor( DW_FORWARD, in1, in2, speed );
} else if( speed < 0 && speed >= -255 ) {
runMotor( DW_REVERSE, in1, in2, abs(speed) );
} else if( speed == 0 || speed == 1500 ) {
runMotor( DW_STOP, in1, in2, speed );
}
}
void DW640::setMotorOff(uint8_t motor) {
}
void DW640::runMotor( uint8_t control, uint8_t in1, uint8_t in2, uint16_t speed ) {
// get the mode
if( getMode() = DW_PHASE ) {
if( control == DW_FORWARD ) {
setPin( in2, 0 );
setPWM( in1, 0, speed * 16 );
} else if( control == DW_REVERSE ) {
setPin( in2, 1 );
setPWM( in1, 0, speed * 16 );
} else if( control == DW_STOP ) {
setPin( in2, 0 );
setPin( in1, 0 );
}
} else { // DW_ININ
if( control == DW_FORWARD ) {
setPin( in2, 0 );
setPWM( in1, 0, speed * 16 );
} else if( control == DW_REVERSE ) {
setPin( in1, 0 );
setPWM( in2, 0, speed * 16 );
} else if( control == DW_STOP ) {
setPin( in1, 1 );
setPin( in2, 1 );
} else if( control == DW_COAST ) {
setPin( in1, 0 );
setPin( in2, 0 );
}
}
}

9
darkwater/DW640.h
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@@ -85,10 +85,11 @@ class DW640 {
void setPin(uint8_t channel, uint8_t value);
void setAllPin(uint8_t value);
// void allOff(uint16_t value);
void allOff();
// void setMotorSpeed(uint8_t motor, uint16_t speed);
// void setMotorOff(uint8_t motor);
void setMotorSpeed(uint8_t motor, uint16_t speed);
void setMotorOff(uint8_t motor);
void runMotor( uint8_t control, uint8_t in1, uint8_t in2, uint16_t speed );
// void setServoOff(uint8_t servo);
// void setServoPWMmS(uint8_t servo, float length_mS);
@@ -105,6 +106,8 @@ class DW640 {
uint8_t mode;
PCA9685* pwm;
Pin* modePin;
};
#endif // DW640_H

8
examples/Motor/Motor.cpp
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@@ -27,6 +27,14 @@ int main()
DW640 dw;
dw.initialize();
dw.setMotorOff( 1 );
dw.setMotorSpeed( 1, 200 );
sleep(5);
dw.setMotorOff( 1 );
sleep(5);
dw.setMotorSpeed( 1, -200 );
sleep(5);
dw.setMotorOff( 1 );
}