Revision 2:a2c141d922b3, committed 2015-11-24

Comitter:

sype

Date:

Tue Nov 24 21:41:45 2015 +0000

Parent:

1:f76058f9f548

Child:

3:5c6a9045c8f7

Commit message:

Documentation

Changed in this revision

--- a/RoboClaw.cpp	Tue Nov 24 15:01:49 2015 +0000
+++ b/RoboClaw.cpp	Tue Nov 24 21:41:45 2015 +0000
@@ -1,8 +1,9 @@
 #include "RoboClaw.h"
 #include <stdarg.h>
 
-#define SetDWORDval(arg) (unsigned char)(arg>>24),(unsigned char)(arg>>16),(unsigned char)(arg>>8),(unsigned char)arg
-#define SetWORDval(arg) (unsigned char)(arg>>8),(unsigned char)arg
+#define MAXTRY 2
+#define SetDWORDval(arg) (uint8_t)(arg>>24),(uint8_t)(arg>>16),(uint8_t)(arg>>8),(uint8_t)arg
+#define SetWORDval(arg) (uint8_t)(arg>>8),(uint8_t)arg
 
 RoboClaw::RoboClaw(int baudrate, PinName rx, PinName tx) : _roboclaw(rx, tx)
 {
@@ -14,10 +15,10 @@
     crc = 0;
 }
 
-void RoboClaw::crc_update (unsigned char data)
+void RoboClaw::crc_update (uint8_t data)
 {
     int i;
-    crc = crc ^ ((unsigned int)data << 8);
+    crc = crc ^ ((uint16_t)data << 8);
     for (i=0; i<8; i++)
     {
         if (crc & 0x8000)
@@ -27,29 +28,32 @@
     }
 }
 
-unsigned int RoboClaw::crc_get()
+uint16_t RoboClaw::crc_get()
 {
     return crc;
 }
 
-void RoboClaw::write_n(unsigned char cnt, ... )
+void RoboClaw::write_n(uint8_t cnt, ... )
 {
-    crc_clear();
-    va_list marker;
-    va_start( marker, cnt );
-    for(unsigned char index=0;index<cnt;index++)
-    {
-        unsigned char data = va_arg(marker, unsigned int);
-        crc_update(data);
-        _roboclaw.putc(data);
-    }
-    va_end( marker );
-    unsigned int crc = crc_get();
-    _roboclaw.putc(crc>>8);
-    _roboclaw.putc(crc);
+    uint8_t retry = MAXTRY;
+    do {
+        crc_clear();
+        va_list marker;
+        va_start( marker, cnt );
+        for(uint8_t index=0;index<cnt;index++)
+        {
+            uint8_t data = va_arg(marker, unsigned int);
+            crc_update(data);
+            _roboclaw.putc(data);
+        }
+        va_end( marker );
+        uint16_t crc = crc_get();
+        _roboclaw.putc(crc>>8);
+        _roboclaw.putc(crc);
+    } while(retry--);
 }
 
-void RoboClaw::write_(unsigned char address, unsigned char command, unsigned char data, bool reading, bool crcon)
+void RoboClaw::write_(uint8_t address, uint8_t command, uint8_t data, bool reading, bool crcon)
 {
     _roboclaw.putc(address);
     _roboclaw.putc(command);
@@ -58,15 +62,15 @@
     {
         if(crcon == true)
         {
-            unsigned char packet[2] = {address, command};
-            unsigned int checksum = crc16(packet,2);
+            uint8_t packet[2] = {address, command};
+            uint16_t checksum = crc16(packet,2);
             _roboclaw.putc(checksum>>8);
             _roboclaw.putc(checksum);
         }
         else
         {
-            unsigned char packet[3] = {address, command, data};
-            unsigned int checksum = crc16(packet,3);
+            uint8_t packet[3] = {address, command, data};
+            uint16_t checksum = crc16(packet,3);
             _roboclaw.putc(data);
             _roboclaw.putc(checksum>>8);
             _roboclaw.putc(checksum);
@@ -74,11 +78,11 @@
     }
 }
 
-unsigned int RoboClaw::crc16(unsigned char *packet, int nBytes) {
-    unsigned int crc_;
+uint16_t RoboClaw::crc16(uint8_t *packet, int nBytes) {
+    uint16_t crc_;
     for (int byte = 0; byte < nBytes; byte++) {
-        crc_ = crc_ ^ ((unsigned int)packet[byte] << 8);
-        for (unsigned char bit = 0; bit < 8; bit++) {
+        crc_ = crc_ ^ ((uint16_t)packet[byte] << 8);
+        for (uint8_t bit = 0; bit < 8; bit++) {
             if (crc_ & 0x8000) {
                 crc_ = (crc_ << 1) ^ 0x1021;
             } else {
@@ -89,51 +93,51 @@
     return crc_;
 }
 
-unsigned char RoboClaw::read_(void)
+uint8_t RoboClaw::read_(void)
 {
     return(_roboclaw.getc());
 }
 
-void RoboClaw::ForwardM1(unsigned char address, int speed){
+void RoboClaw::ForwardM1(uint8_t address, int speed){
     write_(address,M1FORWARD,speed,false,false);
 }
 
-void RoboClaw::BackwardM1(unsigned char address, int speed){
+void RoboClaw::BackwardM1(uint8_t address, int speed){
     write_(address,M1BACKWARD,speed,false,false);
 }
 
-void RoboClaw::ForwardM2(unsigned char address, int speed){
+void RoboClaw::ForwardM2(uint8_t address, int speed){
     write_(address,M2FORWARD,speed,false,false);
 }
 
-void RoboClaw::BackwardM2(unsigned char address, int speed){
+void RoboClaw::BackwardM2(uint8_t address, int speed){
     write_(address,M2BACKWARD,speed,false,false);
 }
 
-void RoboClaw::Forward(unsigned char address, int speed){
+void RoboClaw::Forward(uint8_t address, int speed){
     write_(address,MIXEDFORWARD,speed,false,false);
 }
 
-void RoboClaw::Backward(unsigned char address, int speed){
+void RoboClaw::Backward(uint8_t address, int speed){
     write_(address,MIXEDBACKWARD,speed,false,false);
 }
 
-void RoboClaw::ReadFirm(unsigned char address){
+void RoboClaw::ReadFirm(uint8_t address){
     write_(address,GETVERSION,0x00,true,false);
 }
 
-long RoboClaw::ReadEncM1(unsigned char address){
-    long enc1;
-    unsigned int read_byte[7];
+int32_t RoboClaw::ReadEncM1(uint8_t address){
+    int32_t enc1;
+    uint16_t read_byte[7];
     write_n(2,address,GETM1ENC);
 
-    read_byte[0] = (unsigned int)_roboclaw.getc();
-    read_byte[1] = (unsigned int)_roboclaw.getc();
-    read_byte[2] = (unsigned int)_roboclaw.getc();
-    read_byte[3] = (unsigned int)_roboclaw.getc();
-    read_byte[4] = (unsigned int)_roboclaw.getc();
-    read_byte[5] = (unsigned int)_roboclaw.getc();
-    read_byte[6] = (unsigned int)_roboclaw.getc();
+    read_byte[0] = (uint16_t)_roboclaw.getc();
+    read_byte[1] = (uint16_t)_roboclaw.getc();
+    read_byte[2] = (uint16_t)_roboclaw.getc();
+    read_byte[3] = (uint16_t)_roboclaw.getc();
+    read_byte[4] = (uint16_t)_roboclaw.getc();
+    read_byte[5] = (uint16_t)_roboclaw.getc();
+    read_byte[6] = (uint16_t)_roboclaw.getc();
     
     enc1 = read_byte[1]<<24;
     enc1 |= read_byte[2]<<16;
@@ -143,18 +147,18 @@
     return enc1;
 }
 
-long RoboClaw::ReadEncM2(unsigned char address){
-    long enc2;
-    unsigned int read_byte2[7];
+int32_t RoboClaw::ReadEncM2(uint8_t address){
+    int32_t enc2;
+    uint16_t read_byte2[7];
     write_(address,GETM2ENC,0x00, true,false);
 
-    read_byte2[0] = (unsigned int)_roboclaw.getc();
-    read_byte2[1] = (unsigned int)_roboclaw.getc();
-    read_byte2[2] = (unsigned int)_roboclaw.getc();
-    read_byte2[3] = (unsigned int)_roboclaw.getc();
-    read_byte2[4] = (unsigned int)_roboclaw.getc();
-    read_byte2[5] = (unsigned int)_roboclaw.getc();
-    read_byte2[6] = (unsigned int)_roboclaw.getc();
+    read_byte2[0] = (uint16_t)_roboclaw.getc();
+    read_byte2[1] = (uint16_t)_roboclaw.getc();
+    read_byte2[2] = (uint16_t)_roboclaw.getc();
+    read_byte2[3] = (uint16_t)_roboclaw.getc();
+    read_byte2[4] = (uint16_t)_roboclaw.getc();
+    read_byte2[5] = (uint16_t)_roboclaw.getc();
+    read_byte2[6] = (uint16_t)_roboclaw.getc();
     
     enc2 = read_byte2[1]<<24;
     enc2 |= read_byte2[2]<<16;
@@ -164,18 +168,18 @@
     return enc2;
 }
 
-long RoboClaw::ReadSpeedM1(unsigned char address){
-    long speed1;
-    unsigned int read_byte[7];
+int32_t RoboClaw::ReadSpeedM1(uint8_t address){
+    int32_t speed1;
+    uint16_t read_byte[7];
     write_n(2,address,GETM1SPEED);
 
-    read_byte[0] = (unsigned int)_roboclaw.getc();
-    read_byte[1] = (unsigned int)_roboclaw.getc();
-    read_byte[2] = (unsigned int)_roboclaw.getc();
-    read_byte[3] = (unsigned int)_roboclaw.getc();
-    read_byte[4] = (unsigned int)_roboclaw.getc();
-    read_byte[5] = (unsigned int)_roboclaw.getc();
-    read_byte[6] = (unsigned int)_roboclaw.getc();
+    read_byte[0] = (uint16_t)_roboclaw.getc();
+    read_byte[1] = (uint16_t)_roboclaw.getc();
+    read_byte[2] = (uint16_t)_roboclaw.getc();
+    read_byte[3] = (uint16_t)_roboclaw.getc();
+    read_byte[4] = (uint16_t)_roboclaw.getc();
+    read_byte[5] = (uint16_t)_roboclaw.getc();
+    read_byte[6] = (uint16_t)_roboclaw.getc();
     
     speed1 = read_byte[1]<<24;
     speed1 |= read_byte[2]<<16;
@@ -185,18 +189,18 @@
     return speed1;
 }
 
-long RoboClaw::ReadSpeedM2(unsigned char address){
-    long speed2;
-    unsigned int read_byte2[7];
+int32_t RoboClaw::ReadSpeedM2(uint8_t address){
+    int32_t speed2;
+    uint16_t read_byte2[7];
     write_n(2,address,GETM2SPEED);
 
-    read_byte2[0] = (unsigned int)_roboclaw.getc();
-    read_byte2[1] = (unsigned int)_roboclaw.getc();
-    read_byte2[2] = (unsigned int)_roboclaw.getc();
-    read_byte2[3] = (unsigned int)_roboclaw.getc();
-    read_byte2[4] = (unsigned int)_roboclaw.getc();
-    read_byte2[5] = (unsigned int)_roboclaw.getc();
-    read_byte2[6] = (unsigned int)_roboclaw.getc();
+    read_byte2[0] = (uint16_t)_roboclaw.getc();
+    read_byte2[1] = (uint16_t)_roboclaw.getc();
+    read_byte2[2] = (uint16_t)_roboclaw.getc();
+    read_byte2[3] = (uint16_t)_roboclaw.getc();
+    read_byte2[4] = (uint16_t)_roboclaw.getc();
+    read_byte2[5] = (uint16_t)_roboclaw.getc();
+    read_byte2[6] = (uint16_t)_roboclaw.getc();
     
     speed2 = read_byte2[1]<<24;
     speed2 |= read_byte2[2]<<16;
@@ -206,51 +210,51 @@
     return speed2;
 }
 
-void RoboClaw::ResetEnc(unsigned char address){
+void RoboClaw::ResetEnc(uint8_t address){
     write_n(2,address,RESETENC);
 }
 
-void RoboClaw::SpeedM1(unsigned char address, long speed){
+void RoboClaw::SpeedM1(uint8_t address, int32_t speed){
     write_n(6,address,M1SPEED,SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedM2(unsigned char address, long speed){
+void RoboClaw::SpeedM2(uint8_t address, int32_t speed){
     write_n(6,address,M2SPEED,SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedAccelM1(unsigned char address, long accel, long speed){
+void RoboClaw::SpeedAccelM1(uint8_t address, int32_t accel, int32_t speed){
     write_n(10,address,M1SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedAccelM2(unsigned char address, long accel, long speed){
+void RoboClaw::SpeedAccelM2(uint8_t address, int32_t accel, int32_t speed){
     write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
 }
 
-void RoboClaw::SpeedDistanceM1(unsigned char address, long speed, unsigned long distance, unsigned char buffer){
+void RoboClaw::SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer){
     write_n(11,address,M1SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),buffer);
 }
 
-void RoboClaw::SpeedDistanceM2(unsigned char address, long speed, unsigned long distance, unsigned char buffer){
+void RoboClaw::SpeedDistanceM2(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer){
     write_n(11,address,M2SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),buffer);
 }
 
-void RoboClaw::SpeedAccelDistanceM1(unsigned char address, long accel, long speed, unsigned long distance, unsigned char buffer){
+void RoboClaw::SpeedAccelDistanceM1(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer){
     write_n(15,address,M1SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),buffer);
 }
 
-void RoboClaw::SpeedAccelDistanceM2(unsigned char address, long accel, long speed, unsigned long distance, unsigned char buffer){
+void RoboClaw::SpeedAccelDistanceM2(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer){
     write_n(15,address,M2SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),buffer);
 }
 
-void RoboClaw::SpeedAccelDeccelPositionM1(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag){
+void RoboClaw::SpeedAccelDeccelPositionM1(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag){
     write_n(19,address,M1SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
 }
 
-void RoboClaw::SpeedAccelDeccelPositionM2(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag){
+void RoboClaw::SpeedAccelDeccelPositionM2(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag){
     write_n(19,address,M2SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
 }
 
-void RoboClaw::SpeedAccelDeccelPositionM1M2(unsigned char address,unsigned long accel1,unsigned long speed1,unsigned long deccel1, long position1,unsigned long accel2,unsigned long speed2,unsigned long deccel2, long position2,unsigned char flag){
+void RoboClaw::SpeedAccelDeccelPositionM1M2(uint8_t address,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){
     write_n(35,address,MIXEDSPEEDACCELDECCELPOS,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(deccel1),SetDWORDval(position1),SetDWORDval(accel2),SetDWORDval(speed2),SetDWORDval(deccel2),SetDWORDval(position2),flag);
 }
 

--- a/RoboClaw.h	Tue Nov 24 15:01:49 2015 +0000
+++ b/RoboClaw.h	Tue Nov 24 21:41:45 2015 +0000
@@ -3,56 +3,98 @@
 #include "mbed.h"
 #include "registers.h"
 
-/**
+/** The RoboClaw class, yo ucan use the library with : http://www.ionmc.com/RoboClaw-2x15A-Motor-Controller_p_10.html
+*   Used to control one or two motors with (or not) encoders
+*  @code
+* #include "mbed.h"
+* #include "RoboClaw.h"
 *
+* RoboClaw roboclaw(115200, PA_11, PA_12);
+* 
+* int main() {
+*     roboclaw.ForwardM1(ADR, 127);
+*     while(1);
+* }
+* @endcode
 */
 
 class RoboClaw
 {
 public:
+    /** Create RoboClaw instance
+    */
     RoboClaw(int baudrate, PinName rx, PinName tx);
     
-    void ForwardM1(unsigned char address, int speed);
-    void BackwardM1(unsigned char address, int speed);
-    void ForwardM2(unsigned char address, int speed);
-    void BackwardM2(unsigned char address, int speed);
+    /** Forward and Backward functions
+    * @param address address of the device
+    * @param speed speed of the motor (between 0 and 127)
+    * @note Forward and Backward functions
+    */
+    void ForwardM1(uint8_t address, int speed);
+    void BackwardM1(uint8_t address, int speed);
+    void ForwardM2(uint8_t address, int speed);
+    void BackwardM2(uint8_t address, int speed);
     
-    void Forward(unsigned char address, int speed);
-    void Backward(unsigned char address, int speed);
+    /** Forward and Backward functions
+    * @param address address of the device
+    * @param speed speed of the motor (between 0 and 127)
+    * @note Forward and Backward functions, it turns the two motors
+    */
+    void Forward(uint8_t address, int speed);
+    void Backward(uint8_t address, int speed);
     
-    void ReadFirm(unsigned char address);
+    /** Read the Firmware
+    * @param address address of the device
+    */
+    void ReadFirm(uint8_t address);
     
-    long ReadEncM1(unsigned char address);
-    long ReadEncM2(unsigned char address);
-    long ReadSpeedM1(unsigned char address);
-    long ReadSpeedM2(unsigned char address);
+    /** Read encoder and speed of M1 or M2
+    * @param address address of the device
+    * @note Read encoder in ticks
+    * @note Read speed in ticks per second
+    */
+    int32_t ReadEncM1(uint8_t address);
+    int32_t ReadEncM2(uint8_t address);
+    int32_t ReadSpeedM1(uint8_t address);
+    int32_t ReadSpeedM2(uint8_t address);
     
-    void ResetEnc(unsigned char address);
+    /** Set both encoders to zero
+    * @param address address of the device
+    */
+    void ResetEnc(uint8_t address);
     
-    void SpeedM1(unsigned char address, long speed);
-    void SpeedM2(unsigned char address, long speed);
-    void SpeedAccelM1(unsigned char address, long accel, long speed);
-    void SpeedAccelM2(unsigned char address, long accel, long speed);
-    void SpeedDistanceM1(unsigned char address, long speed, unsigned long distance, unsigned char buffer);
-    void SpeedDistanceM2(unsigned char address, long speed, unsigned long distance, unsigned char buffer);
-    void SpeedAccelDistanceM1(unsigned char address, long accel, long speed, unsigned long distance, unsigned char buffer);
-    void SpeedAccelDistanceM2(unsigned char address, long accel, long speed, unsigned long distance, unsigned char buffer);
-    void SpeedAccelDeccelPositionM1(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag);
-    void SpeedAccelDeccelPositionM2(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag);
-    void SpeedAccelDeccelPositionM1M2(unsigned char address,unsigned long accel1,unsigned long speed1,unsigned long deccel1, long position1,unsigned long accel2,unsigned long speed2,unsigned long deccel2, long position2,unsigned char flag);
+    /** Set speed of Motor with different parameter (only in ticks)
+    * @param address address of the device
+    * @note Set the Speed
+    * @note Set the Speed and Accel
+    * @note Set the Speed and Distance
+    * @note Set the Speed, Accel and Distance
+    * @note Set the Speed, Accel, Decceleration and Position
+    */
+    void SpeedM1(uint8_t address, int32_t speed);
+    void SpeedM2(uint8_t address, int32_t speed);
+    void SpeedAccelM1(uint8_t address, int32_t accel, int32_t speed);
+    void SpeedAccelM2(uint8_t address, int32_t accel, int32_t speed);
+    void SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedDistanceM2(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM1(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM2(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDeccelPositionM1(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    void SpeedAccelDeccelPositionM2(uint8_t address, uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    void SpeedAccelDeccelPositionM1M2(uint8_t address,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);
     
 private:
     Serial _roboclaw;
-    unsigned int crc;
+    uint16_t crc;
     void crc_clear();
-    void crc_update(unsigned char data);
-    unsigned int crc_get();
+    void crc_update(uint8_t data);
+    uint16_t crc_get();
     
-    void write_n(unsigned char cnt, ...);
-    void write_(unsigned char address, unsigned char command, unsigned char data, bool reading, bool crcon);
+    void write_n(uint8_t cnt, ...);
+    void write_(uint8_t address, uint8_t command, uint8_t data, bool reading, bool crcon);
     
-    unsigned int crc16(unsigned char *packet, int nBytes);
-    unsigned char read_(void);
+    uint16_t crc16(uint8_t *packet, int nBytes);
+    uint8_t read_(void);
 };
 
 #endif
\ No newline at end of file