2018_Project-R / RoboClaw_mine_

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RoboClaw.h@1:d36ea95c83f2, 2017-11-20 (annotated)

Committer:
kouika748
Date:
Mon Nov 20 06:57:47 2017 +0000
Revision:
1:d36ea95c83f2
Roboclaw???????????????????????????????????

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kouika748 1:d36ea95c83f2 1 #ifndef ROBOCLAW_H
kouika748 1:d36ea95c83f2 2 #define ROBOCLAW_H
kouika748 1:d36ea95c83f2 3 #include "mbed.h"
kouika748 1:d36ea95c83f2 4 #include "registers.h"
kouika748 1:d36ea95c83f2 5
kouika748 1:d36ea95c83f2 6 /** The RoboClaw class, yo ucan use the library with : http://www.ionmc.com/RoboClaw-2x15A-Motor-Controller_p_10.html
kouika748 1:d36ea95c83f2 7 * Used to control one or two motors with (or not) encoders
kouika748 1:d36ea95c83f2 8 * @code
kouika748 1:d36ea95c83f2 9 * #include "mbed.h"
kouika748 1:d36ea95c83f2 10 * #include "RoboClaw.h"
kouika748 1:d36ea95c83f2 11 *
kouika748 1:d36ea95c83f2 12 * RoboClaw roboclaw(115200, PA_11, PA_12);
kouika748 1:d36ea95c83f2 13 *
kouika748 1:d36ea95c83f2 14 * int main() {
kouika748 1:d36ea95c83f2 15 * roboclaw.ForwardM1(ADR, 127);
kouika748 1:d36ea95c83f2 16 * while(1);
kouika748 1:d36ea95c83f2 17 * }
kouika748 1:d36ea95c83f2 18 * @endcode
kouika748 1:d36ea95c83f2 19 */
kouika748 1:d36ea95c83f2 20
kouika748 1:d36ea95c83f2 21 class RoboClaw
kouika748 1:d36ea95c83f2 22 {
kouika748 1:d36ea95c83f2 23 public:
kouika748 1:d36ea95c83f2 24 /** Create RoboClaw instance
kouika748 1:d36ea95c83f2 25 */
kouika748 1:d36ea95c83f2 26 RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx);
kouika748 1:d36ea95c83f2 27
kouika748 1:d36ea95c83f2 28 /** Forward and Backward functions
kouika748 1:d36ea95c83f2 29 * @param address address of the device
kouika748 1:d36ea95c83f2 30 * @param speed speed of the motor (between 0 and 127)
kouika748 1:d36ea95c83f2 31 * @note Forward and Backward functions
kouika748 1:d36ea95c83f2 32 */
kouika748 1:d36ea95c83f2 33 void ForwardM1(int speed);
kouika748 1:d36ea95c83f2 34 void BackwardM1(int speed);
kouika748 1:d36ea95c83f2 35 void ForwardM2(int speed);
kouika748 1:d36ea95c83f2 36 void BackwardM2(int speed);
kouika748 1:d36ea95c83f2 37
kouika748 1:d36ea95c83f2 38 /** Forward and Backward functions
kouika748 1:d36ea95c83f2 39 * @param address address of the device
kouika748 1:d36ea95c83f2 40 * @param speed speed of the motor (between 0 and 127)
kouika748 1:d36ea95c83f2 41 * @note Forward and Backward functions, it turns the two motors
kouika748 1:d36ea95c83f2 42 */
kouika748 1:d36ea95c83f2 43 void Forward(int speed);
kouika748 1:d36ea95c83f2 44 void Backward(int speed);
kouika748 1:d36ea95c83f2 45
kouika748 1:d36ea95c83f2 46 /** Read the Firmware
kouika748 1:d36ea95c83f2 47 * @param address address of the device
kouika748 1:d36ea95c83f2 48 */
kouika748 1:d36ea95c83f2 49 void ReadFirm();
kouika748 1:d36ea95c83f2 50
kouika748 1:d36ea95c83f2 51 /** Read encoder and speed of M1 or M2
kouika748 1:d36ea95c83f2 52 * @param address address of the device
kouika748 1:d36ea95c83f2 53 * @note Read encoder in ticks
kouika748 1:d36ea95c83f2 54 * @note Read speed in ticks per second
kouika748 1:d36ea95c83f2 55 */
kouika748 1:d36ea95c83f2 56 int32_t ReadEncM1();
kouika748 1:d36ea95c83f2 57 int32_t ReadEncM2();
kouika748 1:d36ea95c83f2 58 int32_t ReadSpeedM1();
kouika748 1:d36ea95c83f2 59 int32_t ReadSpeedM2();
kouika748 1:d36ea95c83f2 60
kouika748 1:d36ea95c83f2 61 /** Set both encoders to zero
kouika748 1:d36ea95c83f2 62 * @param address address of the device
kouika748 1:d36ea95c83f2 63 */
kouika748 1:d36ea95c83f2 64 void ResetEnc();
kouika748 1:d36ea95c83f2 65
kouika748 1:d36ea95c83f2 66 /** Set speed of Motor with different parameter (only in ticks)
kouika748 1:d36ea95c83f2 67 * @param address address of the device
kouika748 1:d36ea95c83f2 68 * @note Set the Speed
kouika748 1:d36ea95c83f2 69 * @note Set the Speed and Accel
kouika748 1:d36ea95c83f2 70 * @note Set the Speed and Distance
kouika748 1:d36ea95c83f2 71 * @note Set the Speed, Accel and Distance
kouika748 1:d36ea95c83f2 72 * @note Set the Speed, Accel, Decceleration and Position
kouika748 1:d36ea95c83f2 73 */
kouika748 1:d36ea95c83f2 74 void SpeedM1(int32_t speed);
kouika748 1:d36ea95c83f2 75 void SpeedM2(int32_t speed);
kouika748 1:d36ea95c83f2 76 void SpeedAccelM1(int32_t accel, int32_t speed);
kouika748 1:d36ea95c83f2 77 void SpeedAccelM2(int32_t accel, int32_t speed);
kouika748 1:d36ea95c83f2 78 void SpeedAccelM1M2(int32_t accel, int32_t speed1, int32_t speed2);
kouika748 1:d36ea95c83f2 79 void SpeedDistanceM1(int32_t speed, uint32_t distance, uint8_t buffer);
kouika748 1:d36ea95c83f2 80 void SpeedDistanceM2(int32_t speed, uint32_t distance, uint8_t buffer);
kouika748 1:d36ea95c83f2 81 void SpeedAccelDistanceM1(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
kouika748 1:d36ea95c83f2 82 void SpeedAccelDistanceM2(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
kouika748 1:d36ea95c83f2 83 void SpeedAccelDeccelPositionM1(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
kouika748 1:d36ea95c83f2 84 void SpeedAccelDeccelPositionM2(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
kouika748 1:d36ea95c83f2 85 void SpeedAccelDeccelPositionM1M2(uint32_t accel1,uint32_t speed1,uint32_t deccel1, int32_t position1,uint32_t accel2,uint32_t speed2,uint32_t deccel2, int32_t position2,uint8_t flag);
kouika748 1:d36ea95c83f2 86
kouika748 1:d36ea95c83f2 87 private:
kouika748 1:d36ea95c83f2 88 Serial _roboclaw;
kouika748 1:d36ea95c83f2 89 uint16_t crc;
kouika748 1:d36ea95c83f2 90 uint8_t address;
kouika748 1:d36ea95c83f2 91 void crc_clear();
kouika748 1:d36ea95c83f2 92 void crc_update(uint8_t data);
kouika748 1:d36ea95c83f2 93 uint16_t crc_get();
kouika748 1:d36ea95c83f2 94
kouika748 1:d36ea95c83f2 95 void write_n(uint8_t cnt, ...);
kouika748 1:d36ea95c83f2 96 void write_(uint8_t command, uint8_t data, bool reading, bool crcon);
kouika748 1:d36ea95c83f2 97
kouika748 1:d36ea95c83f2 98 uint16_t crc16(uint8_t *packet, int nBytes);
kouika748 1:d36ea95c83f2 99 uint8_t read_(void);
kouika748 1:d36ea95c83f2 100 };
kouika748 1:d36ea95c83f2 101
kouika748 1:d36ea95c83f2 102 #endif