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