h3n3/darkwater_cplus_640
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big rejig test

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This commit is contained in:
shrkey
2016-10-10 21:55:08 +01:00
parent 51004e9d4d
commit ab5dddccb2
2 changed files with 154 additions and 82 deletions
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63
darkwater/DW640.h
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@@ -59,6 +59,40 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
using namespace DarkWater;
class DW_Motor {
public:
DW_Motor(void);
friend class DW640;
void setMotorSpeed(int16_t speed);
void off(void);
void run(uint8_t control, uint16_t speed );
private:
uint8_t in1, in2;
DW640 *DWC;
uint8_t motor;
uint16_t map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max);
}
class DW_Servo {
public:
DW_Servo(void);
friend class DW640;
void off(void);
void setPWMmS(float length_mS);
void setPWMuS(float length_uS);
private:
uint8_t pin;
DW640 *DWC;
uint8_t servo;
}
class DW640 {
public:
DW640(uint8_t address = DW640_DEFAULT_ADDRESS);
@@ -87,18 +121,13 @@ class DW640 {
void allOff();
void setMotorSpeed(uint8_t motor, int16_t speed);
void setMotorOff(uint8_t motor);
void runMotor( uint8_t control, uint8_t in1, uint8_t in2, uint16_t speed );
DW_Motor *getMotor(uint8_t motor);
DW_Servo *getServo(uint8_t servo);
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 = DW_SINGLE);
// 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 = DW_SINGLE);
private:
uint8_t devAddr;
@@ -107,9 +136,19 @@ class DW640 {
PCA9685* pwm;
Pin* modePin;
uint16_t map(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max);
DW_Motor motors[6];
DW_Servo servos[2];
uint16_t revsteps; // # steps per revolution
uint8_t currentstep;
};
// class DW_Stepper {
// }
#endif // DW640_H