mode test

darkwater/DW640.cpp

@@ -48,8 +48,10 @@ bool DW640::initialize() {
     	printf("No 640 board found\n");
     	return 0;		
     }
-
+    // set the default frequency
-    this->pwm->setFrequency( 100 );
+    setFrequency( 100 );
+    // set the default mode to ININ
+    setMode( DW_ININ );
     
 }
 
@@ -59,3 +61,35 @@ bool DW640::initialize() {
 bool DW640::testConnection() {
     return this->pwm->testConnection();
 }
+
+/** Calculate prescale value based on the specified frequency and write it to the device.
+ * @return Frequency in Hz
+ */
+float DW640::getFrequency() {
+    return this->pwm->getFrequency();
+}
+
+
+/** Calculate prescale value based on the specified frequency and write it to the device.
+ * @param Frequency in Hz
+ */
+void DW640::setFrequency(float frequency) {
+    this->pwm->setFrequency( frequency );
+}
+
+/** Calculate prescale value based on the specified frequency and write it to the device.
+ * @return Frequency in Hz
+ */
+uint8_t DW640::getMode() {
+    return this->mode;
+}
+
+
+/** Calculate prescale value based on the specified frequency and write it to the device.
+ * @param Frequency in Hz
+ */
+void DW640::setMode(uint8_t mode) {
+    this->modePin = new PIN( RPI_GPIO_27 );
+    this->modePin->setMode(Pin::GpioModeOutput);
+    this->modePin->write( mode );
+}

darkwater/DW640.h

@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <math.h>
 #include <string>
 #include "PCA9685.h"
+#include "gpio.h"
 
 #define DW640_DEFAULT_ADDRESS     0x60 // 640 default
 
@@ -53,8 +54,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define DW_INTERLEAVE             3
 #define DW_MICROSTEP              4
 
-#define DW_ININ                   5
+#define DW_ININ                   0
-#define DW_PHASE                  6
+#define DW_PHASE                  1
 
 class DW640 {
     public:
@@ -63,11 +64,11 @@ class DW640 {
         bool initialize();
         bool testConnection();
 
-        // float getFrequency();
+        float getFrequency();
-        // void setFrequency(float frequency);
+        void setFrequency(float frequency);
 
-        // float getMode();
+        uint8_t getMode();
-        // void setMode(float frequency);
+        void setMode(uint8_t mode);
 
         // void setPin(uint8_t channel, uint16_t value);
         // void setAllPin(uint16_t value);
@@ -101,6 +102,7 @@ class DW640 {
         float frequency;
         uint8_t mode;
         PCA9685* pwm;
+        PIN* modePin;
 };
 
 #endif // DW640_H

examples/Motor/Motor.cpp

@@ -27,10 +27,6 @@ int main()
 	DW640 dw;
 	dw.initialize();
 
-	if(dw.testConnection()) {
-		printf("OK %4.f ", 2000);
-	} else {
-		printf("Not Ok %4.f ", 1000);
-	}
 
-	}
+
+}