h3n3/darkwater_cplus_640
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bit at a time

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This commit is contained in:
shrkey
2016-10-09 19:55:07 +01:00
parent 74ff50d7d9
commit 5da6e541cf
2 changed files with 92 additions and 34 deletions
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72
darkwater/DW640.h
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@@ -41,20 +41,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define DW640_DEFAULT_ADDRESS 0x60 // 640 default
#define DW_FORWARD 0x00
#define DW_REVERSE 0x01
#define DW_BRAKEFORWARD 0x06
#define DW_BRAKEREVERSE 0x07
#define DW_STOP 0x08
#define DW_COAST 0x07
#define DW_FORWARD 1
#define DW_REVERSE 2
#define DW_BRAKEFORWARD 3
#define DW_BRAKEREVERSE 4
#define DW_STOP 5
#define DW_COAST 6
#define DW_SINGLE 0x07
#define DW_DOUBLE 0x07
#define DW_INTERLEAVE 0x07
#define DW_MICROSTEP 0x07
#define DW_SINGLE 1
#define DW_DOUBLE 2
#define DW_INTERLEAVE 3
#define DW_MICROSTEP 4
#define DW_ININ 0x07
#define DW_PHASE 0x07
#define DW_ININ 5
#define DW_PHASE 6
class DW640 {
public:
@@ -63,40 +63,44 @@ class DW640 {
void initialize();
bool testConnection();
float getMode();
void setMode(float frequency);
// float getFrequency();
// void setFrequency(float frequency);
void setPin(uint8_t channel, uint16_t value);
void setAllPin(uint16_t value);
// float getMode();
// void setMode(float frequency);
void setPWM(uint8_t channel, uint16_t offset, uint16_t length);
void setPWM(uint8_t channel, uint16_t length);
void setPWMmS(uint8_t channel, float length_mS);
void setPWMuS(uint8_t channel, float length_uS);
// void setPin(uint8_t channel, uint16_t value);
// void setAllPin(uint16_t value);
void setAllPWM(uint16_t offset, uint16_t length);
void setAllPWM(uint16_t length);
void setAllPWMmS(float length_mS);
void setAllPWMuS(float length_uS);
// void setPWM(uint8_t channel, uint16_t offset, uint16_t length);
// void setPWM(uint8_t channel, uint16_t length);
// void setPWMmS(uint8_t channel, float length_mS);
// void setPWMuS(uint8_t channel, float length_uS);
void allOff(uint16_t value);
// void setAllPWM(uint16_t offset, uint16_t length);
// void setAllPWM(uint16_t length);
// void setAllPWMmS(float length_mS);
// void setAllPWMuS(float length_uS);
void setMotorSpeed(uint8_t motor, uint16_t speed);
void setMotorOff(uint8_t motor);
// void allOff(uint16_t value);
void setServoOff(uint8_t servo);
void setServoPWMmS(uint8_t servo, float length_mS);
void setServoPWMuS(uint8_t servo, float length_uS);
// void setMotorSpeed(uint8_t motor, uint16_t speed);
// void setMotorOff(uint8_t motor);
void setStepperOff(uint8_t stepper);
void setStepperSpeed(uint8_t stepper, uint16_t speed);
void oneStep(uint8_t stepper, uint8_t direction, uint8_t style);
void step(uint8_t stepper, uint16_t steps, uint8_t direction, uint8_t style);
// void setServoOff(uint8_t servo);
// void setServoPWMmS(uint8_t servo, float length_mS);
// void setServoPWMuS(uint8_t servo, float length_uS);
// void setStepperOff(uint8_t stepper);
// void setStepperSpeed(uint8_t stepper, uint16_t speed);
// void oneStep(uint8_t stepper, uint8_t direction, uint8_t style);
// void step(uint8_t stepper, uint16_t steps, uint8_t direction, uint8_t style);
private:
uint8_t devAddr;
float frequency;
uint8_t mode;
PCA9685 pwm;
};
#endif // DW640_H