Initial escape library

Not working yet
2016-10-10 22:42:09 +01:00
parent d3429c677a
commit 9f4dffe704
24 changed files with 2872 additions and 0 deletions
--- a/darkwater/DWESCAPE.h
+++ b/darkwater/DWESCAPE.h
@@ -0,0 +1,135 @@
+/*
+Dark Water ESCAPE driver code is placed under the BSD license.
+Written by Team Dark Water (team@darkwater.io)
+Copyright (c) 2014, Dark Water
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Emlid Limited nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef DWESCAPE_H
+#define DWESCAPE_H
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <math.h>
+#include <string>
+#include "PCA9685.h"
+#include "gpio.h"
+
+#define DWESCAPE_DEFAULT_ADDRESS     0x61 // ESCAPE default
+
+#define DW_FORWARD                1
+#define DW_REVERSE                2
+#define DW_BRAKEFORWARD           3
+#define DW_BRAKEREVERSE           4
+#define DW_STOP                   5
+#define DW_COAST                  6
+
+using namespace DarkWater;
+
+class DWESCAPE;
+
+class DW_Motor {
+    public:
+        DW_Motor(void);
+        friend class DWESCAPE;
+
+        void setMotorSpeed(int16_t speed);
+        void off(void);
+        void run(uint8_t control, uint16_t speed );
+
+    private:
+        uint8_t pin;
+        DWESCAPE *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 DWESCAPE;
+
+        void off(void);
+        void setPWMmS(float length_mS);
+        void setPWMuS(float length_uS);
+
+    private:
+        uint8_t pin;
+        DWESCAPE *DWC;
+        uint8_t servo;
+
+};
+
+class DWESCAPE {
+    public:
+        DWESCAPE(uint8_t address = DWESCAPE_DEFAULT_ADDRESS);
+
+        bool initialize();
+        bool testConnection();
+
+        float getFrequency();
+        void setFrequency(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 setAllPWM(uint16_t offset, uint16_t length);
+        void setAllPWM(uint16_t length);
+        void setAllPWMmS(float length_mS);
+        void setAllPWMuS(float length_uS);
+
+        void setPin(uint8_t channel, uint8_t value);
+        void setAllPin(uint8_t value);
+
+        void allOff();
+
+        DW_Motor *getMotor(uint8_t motor);
+        DW_Servo *getServo(uint8_t servo);        
+
+        // 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;
+        float frequency;
+        uint8_t mode;
+        PCA9685* pwm;
+
+        DW_Motor motors[6];
+        DW_Servo servos[6];
+
+};
+
+
+#endif // DWESCAPE_H