AP1017.cpp

00001 #include "AP1017.h"
00002 
00003 /******************** Constructors & Destructors ****************************/
00004 
00005 // Default constructor
00006 AP1017::AP1017(DigitalOut* A, DigitalOut* B, I2C* M) : motorOn(false), dutyCycle(0.0)
00007 {
00008      i2cMotor = M;
00009      inA = A;
00010      inB = B;
00011      
00012      // Instantiate TCA9554A
00013      motor = new TCA9554A(i2cMotor, TCA9554A::SLAVE_ADDRESS_38H);  // 38H->Port 0->RSV
00014      
00015      // Initialize RSV as output
00016      if (motor->configurePort(TCA9554A::PORT_0, TCA9554A::DIR_OUTPUT)!= TCA9554A::SUCCESS) {
00017          MSG("#AP1017: Error configuring TCA9554A port.\r\n");
00018      }
00019      motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW);  // Turn motor off
00020 }
00021 
00022 // Default destructor
00023 AP1017::~AP1017(void)
00024 {
00025     stop();
00026     delete inA, inB, motor, i2cMotor;
00027 }
00028 
00029 /*********************** Member Functions ***********************************/
00030 
00031 AP1017::Status AP1017::setDirection(AP1017::Rotation dir)
00032 {
00033     direction = dir;
00034     
00035     switch(direction){
00036         case DIRECTION_CW:                              // direction = 0x00
00037             if(isMotorOn())
00038             {
00039                 MSG("#Error: Cannot change direction while motor is running.\r\n");
00040                 return ERROR_MOTORON;
00041             }else
00042             {
00043                 inA->write(1);
00044                 inB->write(0);
00045                 MSG("#Direction: CCW\r\n");
00046             }
00047             break;
00048         case DIRECTION_CCW:                                 // direction = 0x01
00049             if(isMotorOn())
00050             {
00051                 MSG("#Error: Cannot change direction while motor is running.\r\n");
00052                 return ERROR_MOTORON;
00053             }else
00054             {
00055                 inA->write(0);
00056                 inB->write(1);
00057                 MSG("#Direction: CW\r\n");
00058             }
00059             break;
00060         case DIRECTION_BRAKE:                              // direction = 0x03
00061             inA->write(1);
00062             inB->write(1);
00063             MSG("#Direction: Brake\r\n");
00064             break;
00065         case DIRECTION_COAST:                              // direction = 0x04
00066             inA->write(0);
00067             inB->write(0);
00068             motorOn = false;
00069             MSG("#Direction: Coast\r\n");
00070             break;
00071         default:
00072             return ERROR_DIRECTION;
00073     }
00074 
00075     return SUCCESS;
00076 }
00077 
00078 
00079 AP1017::Rotation AP1017::getDirection(void)
00080 {
00081     MSG("#Direction: ");
00082     switch(direction){
00083         case DIRECTION_CW:
00084             MSG("CW\r\n");
00085             break;
00086         case DIRECTION_CCW:
00087             MSG("CCW\r\n");
00088             break;
00089         case DIRECTION_COAST:
00090             MSG("Coast\r\n");
00091             break;
00092         case DIRECTION_BRAKE:
00093             MSG("Brake\r\n");
00094             break;
00095         default:
00096             MSG("Error: Invalid direction\r\n");
00097     }
00098     return direction;
00099 }
00100 
00101 
00102 AP1017::Status AP1017::setSpeed(double dc)
00103 {
00104     if((dc <= 100.0) && (dc >= 0.0))
00105     {
00106         dutyCycle = dc/100.0;
00107 
00108         if(motorOn == true){
00109             MSG("Speed setting not yet implemented.\r\n");
00110             //MSG("#Changed running motor speed: %.1f%%.\r\n", dc);
00111         }
00112     }
00113     else
00114     {
00115         dutyCycle = 0.0;
00116         return ERROR_DUTY_CYCLE;
00117     }
00118 
00119     return SUCCESS;
00120 }
00121 
00122 
00123 double AP1017::getSpeed(void)
00124 {
00125     MSG("Speed: %.1f%%\r\n.", dutyCycle*100.0);
00126     return dutyCycle*100.0;
00127 }
00128 
00129 
00130 AP1017::Status AP1017::start(void)
00131 {
00132     motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::HIGH);        // set RSV high
00133     motorOn = true;                         // Set ON flag
00134 
00135     return SUCCESS;
00136 }
00137 
00138 
00139 AP1017::Status AP1017::stop(void)
00140 {
00141     motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW);        // set RSV low
00142     motorOn = false;                        // Set OFF flag
00143 
00144     return SUCCESS;
00145 }
00146 
00147 AP1017::Status  AP1017::brake(void)
00148 {
00149     setDirection(DIRECTION_BRAKE);
00150     return SUCCESS;
00151 }
00152 
00153 AP1017::Status  AP1017::coast(void)
00154 {
00155     setDirection(DIRECTION_COAST);
00156     return SUCCESS;
00157 }
00158 
00159 bool AP1017::isMotorOn(void)
00160 {
00161     return motorOn;
00162 }