Paolina Povolotskaya / PololuQik2

Pololu Quk Motor Controller Driver

Dependents:   NavigationTest

Fork of PololuQik2 by stephen smitherman

PololuQik2.h@2:8d650b072fa8, 2014-04-03 (annotated)

Committer:
Fairy_Paolina
Date:
Thu Apr 03 15:24:59 2014 +0000
Revision:
2:8d650b072fa8
Parent:
0:511d65ef1276 
new;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
srsmitherman 0:511d65ef1276 1 /**
srsmitherman 0:511d65ef1276 2 * @file PololuQik2.h
srsmitherman 0:511d65ef1276 3 * @author Edward Wilson (edwilson1989@gmail.com)
srsmitherman 0:511d65ef1276 4 * @author Eric Fialkowski (eric.fialkowski@gmail.com)
srsmitherman 0:511d65ef1276 5 * @date Aug 6, 2010
srsmitherman 0:511d65ef1276 6 * @brief PololuQik2 motor drivers.
srsmitherman 0:511d65ef1276 7 *
srsmitherman 0:511d65ef1276 8 * @details This class is a derivative work based on work of Mr Fialkowski.
srsmitherman 0:511d65ef1276 9 *
srsmitherman 0:511d65ef1276 10 * PololuQik2 - basic class to control Pololu's Qik2s9v1
srsmitherman 0:511d65ef1276 11 * motor controller (http://www.pololu.com/catalog/product/1110)
srsmitherman 0:511d65ef1276 12 *
srsmitherman 0:511d65ef1276 13 * This uses the default settings for the motor controller and the
srsmitherman 0:511d65ef1276 14 * Compact Protocol to communicate to it.
srsmitherman 0:511d65ef1276 15 *
srsmitherman 0:511d65ef1276 16 * This library is free software; you can redistribute it and/or
srsmitherman 0:511d65ef1276 17 * modify it under the terms of the GNU Lesser General Public
srsmitherman 0:511d65ef1276 18 * License as published by the Free Software Foundation; either
srsmitherman 0:511d65ef1276 19 * version 2.1 of the License, or (at your option) any later version.
srsmitherman 0:511d65ef1276 20 *
srsmitherman 0:511d65ef1276 21 * This library is distributed in the hope that it will be useful,
srsmitherman 0:511d65ef1276 22 * but WITHOUT ANY WARRANTY; without even the implied warranty of
srsmitherman 0:511d65ef1276 23 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
srsmitherman 0:511d65ef1276 24 * Lesser General Public License for more details.
srsmitherman 0:511d65ef1276 25 *
srsmitherman 0:511d65ef1276 26 * You should have received a copy of the GNU Lesser General Public
srsmitherman 0:511d65ef1276 27 * License along with this library; if not, write to the Free Software
srsmitherman 0:511d65ef1276 28 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
srsmitherman 0:511d65ef1276 29 *
srsmitherman 0:511d65ef1276 30 * @version 1.0 August 6, 2010 Initial code
srsmitherman 0:511d65ef1276 31 * @version 1.2 December 28, 2010 Composition constructor added
srsmitherman 0:511d65ef1276 32 * @version 1.3 April 22, 2011 Ported for MBED
srsmitherman 0:511d65ef1276 33 */
srsmitherman 0:511d65ef1276 34
srsmitherman 0:511d65ef1276 35 #ifndef POLOLUQIK2_H_
srsmitherman 0:511d65ef1276 36 #define POLOLUQIK2_H_
srsmitherman 0:511d65ef1276 37
srsmitherman 0:511d65ef1276 38 #include "CRC7.h"
srsmitherman 0:511d65ef1276 39 #include "mbed.h"
srsmitherman 0:511d65ef1276 40 #include <inttypes.h>
srsmitherman 0:511d65ef1276 41
srsmitherman 0:511d65ef1276 42 #define INITIALPACKET 0xAA /**< The packet used to initialise the motor controller*/
srsmitherman 0:511d65ef1276 43 #define MOTOR0FORWARDPACKET 0x88 /**< The packet used to set motor 0 forward */
srsmitherman 0:511d65ef1276 44 #define MOTOR1FORWARDPACKET 0x8C /**< The packet used to set motor 1 forward */
srsmitherman 0:511d65ef1276 45 #define MOTOR0REVERSEPACKET 0x8A /**< The packet used to set motor 0 in reverse */
srsmitherman 0:511d65ef1276 46 #define MOTOR1REVERSEPACKET 0x8E /**< The packet used to set motor 1 in reverse */
srsmitherman 0:511d65ef1276 47 #define MOTOR0COASTPACKET 0x86 /**< The packet used to all motor 0 to coast */
srsmitherman 0:511d65ef1276 48 #define MOTOR1COASTPACKET 0x87 /**< The packet used to all motor 1 to coast */
srsmitherman 0:511d65ef1276 49 #define FWVERSIONPACKET 0x81 /**< The packet to query the firmware version of the motor controller */
srsmitherman 0:511d65ef1276 50 #define ERRORPACKET 0x82 /**< The packet to request the error state from the motor controller */
srsmitherman 0:511d65ef1276 51
srsmitherman 0:511d65ef1276 52 #define DATAOVERRUNERRORBIT 3 /**< The bit which signifies a data over run error */
srsmitherman 0:511d65ef1276 53 #define FRAMEERRORBIT 4 /**< The bit which signifies a frame error */
srsmitherman 0:511d65ef1276 54 #define CRCERRORBIT 5 /**< The bit which signifies CRC error */
srsmitherman 0:511d65ef1276 55 #define FORMATERRORBIT 6 /**< The bit which signifies a format error */
srsmitherman 0:511d65ef1276 56 #define TIMEOUTERRORBIT 7 /**< The bit which signifies time out error */
srsmitherman 0:511d65ef1276 57
srsmitherman 0:511d65ef1276 58 /**
srsmitherman 0:511d65ef1276 59 * This is the driver for the motor controller. This is to control a Qik2s9v1.
srsmitherman 0:511d65ef1276 60 * It will not control multiple motor and it does not support daisy chaining motor controllers.
srsmitherman 0:511d65ef1276 61 *
srsmitherman 0:511d65ef1276 62 * The specification for the motor controller can be found http://www.pololu.com/catalog/product/1110/
srsmitherman 0:511d65ef1276 63 *
srsmitherman 0:511d65ef1276 64 * This motor controller is based on the work of Mr Fialkowski.
srsmitherman 0:511d65ef1276 65 * This motor controller requires the newSoftSerial library be installed on the build path.
srsmitherman 0:511d65ef1276 66 * This motor controller also requires the CRC7 class.
srsmitherman 0:511d65ef1276 67 *
srsmitherman 0:511d65ef1276 68 * @see CRC7
srsmitherman 0:511d65ef1276 69 */
srsmitherman 0:511d65ef1276 70 class PololuQik2 {
srsmitherman 0:511d65ef1276 71 public:
srsmitherman 0:511d65ef1276 72
srsmitherman 0:511d65ef1276 73 /**
srsmitherman 0:511d65ef1276 74 * The parameterised constructor for the pololuQik2 motor controller.
srsmitherman 0:511d65ef1276 75 *
srsmitherman 0:511d65ef1276 76 * @attention It is important to call the begin() method as this initialises the controller.
srsmitherman 0:511d65ef1276 77 * @see begin()
srsmitherman 0:511d65ef1276 78 *
srsmitherman 0:511d65ef1276 79 * @param txPin the pin on the controller to use for transmitting serial bytes.
srsmitherman 0:511d65ef1276 80 * @param rxPin the pin on the controller to use for recieving serial bytes.
srsmitherman 0:511d65ef1276 81 * @param errPin the digital output pin to use to reset the motor controller.
srsmitherman 0:511d65ef1276 82 * @param EnableCRC true if CRC should be used when communicating with the motor controller.
srsmitherman 0:511d65ef1276 83 * @param reset the pin on the controller to use to reset the motor controller.
srsmitherman 0:511d65ef1276 84 */
srsmitherman 0:511d65ef1276 85 PololuQik2::PololuQik2(PinName TxPin, PinName RxPin, PinName RSTPin, PinName errPin, void (*errorFunction)(void), bool enCRC);
srsmitherman 0:511d65ef1276 86
srsmitherman 0:511d65ef1276 87 /**
srsmitherman 0:511d65ef1276 88 * This method initialises and begins communication with the motor controller.
srsmitherman 0:511d65ef1276 89 * This method is also called when an error is exhibited.
srsmitherman 0:511d65ef1276 90 *
srsmitherman 0:511d65ef1276 91 * @see PololuQik2()
srsmitherman 0:511d65ef1276 92 */
srsmitherman 0:511d65ef1276 93 void begin();
srsmitherman 0:511d65ef1276 94
srsmitherman 0:511d65ef1276 95 /**
srsmitherman 0:511d65ef1276 96 * sets the speed of motor 0. This command has superseded motor0Forwards and motor0Reverse.
srsmitherman 0:511d65ef1276 97 * If the speed is less than 0 then the motor will reverse.
srsmitherman 0:511d65ef1276 98 * If the speed is greater than 0 then the motor will run forward
srsmitherman 0:511d65ef1276 99 * If the speed is 0 then the motor will be stopped.
srsmitherman 0:511d65ef1276 100 *
srsmitherman 0:511d65ef1276 101 * The bound for the speed are -127 to 127.
srsmitherman 0:511d65ef1276 102 * @since 1.2
srsmitherman 0:511d65ef1276 103 * @param speed the speed of the motor. If this value is negative the motor will reverse to the
srsmitherman 0:511d65ef1276 104 * appropriate speed.
srsmitherman 0:511d65ef1276 105 */
srsmitherman 0:511d65ef1276 106 void setMotor0Speed(int8_t speed);
srsmitherman 0:511d65ef1276 107
srsmitherman 0:511d65ef1276 108 /**
srsmitherman 0:511d65ef1276 109 * sets the speed of motor 1. This command has superseded motor1Forwards and motor1Reverse.
srsmitherman 0:511d65ef1276 110 * If the speed is less than 0 then the motor will reverse.
srsmitherman 0:511d65ef1276 111 * If the speed is greater than 0 then the motor will run forward
srsmitherman 0:511d65ef1276 112 * If the speed is 0 then the motor will be stopped.
srsmitherman 0:511d65ef1276 113 *
srsmitherman 0:511d65ef1276 114 * The bound for the speed are -127 to 127.
srsmitherman 0:511d65ef1276 115 * @since 1.2
srsmitherman 0:511d65ef1276 116 * @param speed the speed of the motor. If this value is negative the motor will reverse to the
srsmitherman 0:511d65ef1276 117 * appropriate speed.
srsmitherman 0:511d65ef1276 118 */
srsmitherman 0:511d65ef1276 119 void setMotor1Speed(int8_t speed);
srsmitherman 0:511d65ef1276 120
srsmitherman 0:511d65ef1276 121 /**
srsmitherman 0:511d65ef1276 122 * instructs the motor controller to halt both motors.
srsmitherman 0:511d65ef1276 123 * This is equivalent to called any of the forward or reverse methods
srsmitherman 0:511d65ef1276 124 * with the speed as zero (0).
srsmitherman 0:511d65ef1276 125 */
Fairy_Paolina 2:8d650b072fa8 126 void stopBothMotors(int8_t speed);
srsmitherman 0:511d65ef1276 127
srsmitherman 0:511d65ef1276 128 /**
srsmitherman 0:511d65ef1276 129 * retrieves the firmware version from the motor controller. This will return one of two values.
srsmitherman 0:511d65ef1276 130 * Either the ASCII representation of 1 or the ASCII representation of 2.
srsmitherman 0:511d65ef1276 131 *
srsmitherman 0:511d65ef1276 132 * The return from this method will be either 49 or 50. If otherwise there is an error.
srsmitherman 0:511d65ef1276 133 *
srsmitherman 0:511d65ef1276 134 * @return the firmware version of the motor controller.
srsmitherman 0:511d65ef1276 135 */
srsmitherman 0:511d65ef1276 136 uint8_t getFirmwareVersion();
srsmitherman 0:511d65ef1276 137
srsmitherman 0:511d65ef1276 138 /**
srsmitherman 0:511d65ef1276 139 * Checks if the motor controller has a Data over run error
srsmitherman 0:511d65ef1276 140 *
srsmitherman 0:511d65ef1276 141 * returns true if it has a data over run error
srsmitherman 0:511d65ef1276 142 */
srsmitherman 0:511d65ef1276 143 bool hasDataOverrunError();
srsmitherman 0:511d65ef1276 144
srsmitherman 0:511d65ef1276 145 /**
srsmitherman 0:511d65ef1276 146 * Checks if the motor controller has a Frame error
srsmitherman 0:511d65ef1276 147 *
srsmitherman 0:511d65ef1276 148 * returns true if it has a Frame error
srsmitherman 0:511d65ef1276 149 */
srsmitherman 0:511d65ef1276 150 bool hasFrameError();
srsmitherman 0:511d65ef1276 151
srsmitherman 0:511d65ef1276 152 /**
srsmitherman 0:511d65ef1276 153 * Checks if the motor controller has a CRC error
srsmitherman 0:511d65ef1276 154 *
srsmitherman 0:511d65ef1276 155 * returns true if it has a CRC error
srsmitherman 0:511d65ef1276 156 */
srsmitherman 0:511d65ef1276 157 bool hasCRCError();
srsmitherman 0:511d65ef1276 158
srsmitherman 0:511d65ef1276 159 /**
srsmitherman 0:511d65ef1276 160 * Checks if the motor controller has a Format error
srsmitherman 0:511d65ef1276 161 *
srsmitherman 0:511d65ef1276 162 * returns true if it has a Format error
srsmitherman 0:511d65ef1276 163 */
srsmitherman 0:511d65ef1276 164 bool hasFormatError();
srsmitherman 0:511d65ef1276 165
srsmitherman 0:511d65ef1276 166 /**
srsmitherman 0:511d65ef1276 167 * Checks if the motor controller has a time out error
srsmitherman 0:511d65ef1276 168 *
srsmitherman 0:511d65ef1276 169 * returns true if it has a time out error
srsmitherman 0:511d65ef1276 170 */
srsmitherman 0:511d65ef1276 171 bool hasTimeoutError();
srsmitherman 0:511d65ef1276 172
srsmitherman 0:511d65ef1276 173 private:
srsmitherman 0:511d65ef1276 174
srsmitherman 0:511d65ef1276 175 void errorCall();
srsmitherman 0:511d65ef1276 176
srsmitherman 0:511d65ef1276 177 /**
srsmitherman 0:511d65ef1276 178 * This actually sends the data to the motor controller.
srsmitherman 0:511d65ef1276 179 *
srsmitherman 0:511d65ef1276 180 * @param message[] the message to be sent
srsmitherman 0:511d65ef1276 181 * @param length the length of the message to be sent
srsmitherman 0:511d65ef1276 182 */
srsmitherman 0:511d65ef1276 183 void sendMessage(unsigned char message[], uint8_t length);
srsmitherman 0:511d65ef1276 184
srsmitherman 0:511d65ef1276 185 /**
srsmitherman 0:511d65ef1276 186 * Checks if a specific bit in the error byte is set.
srsmitherman 0:511d65ef1276 187 * @param bitToCheck the bit number to check. Assume that the least significant bit is bit 1.
srsmitherman 0:511d65ef1276 188 * @return true if the bit is set.
srsmitherman 0:511d65ef1276 189 */
srsmitherman 0:511d65ef1276 190 bool errorBitSet(uint8_t bitToCheck);
srsmitherman 0:511d65ef1276 191
srsmitherman 0:511d65ef1276 192 /**
srsmitherman 0:511d65ef1276 193 * retrieves the error value from the motor controller and stores it in the
srsmitherman 0:511d65ef1276 194 * class internal workings.
srsmitherman 0:511d65ef1276 195 *
srsmitherman 0:511d65ef1276 196 * @see errorBitSet()
srsmitherman 0:511d65ef1276 197 * @see error()
srsmitherman 0:511d65ef1276 198 */
srsmitherman 0:511d65ef1276 199 uint8_t getError();
srsmitherman 0:511d65ef1276 200
srsmitherman 0:511d65ef1276 201 /**
srsmitherman 0:511d65ef1276 202 * sends a single byte to the motor controller
srsmitherman 0:511d65ef1276 203 *
srsmitherman 0:511d65ef1276 204 * @param byte the byte of data to send
srsmitherman 0:511d65ef1276 205 */
srsmitherman 0:511d65ef1276 206 void sendByte(uint8_t byte);
srsmitherman 0:511d65ef1276 207
srsmitherman 0:511d65ef1276 208 /**
srsmitherman 0:511d65ef1276 209 * Reads a byte from the motor controller. This is a blocking call.
srsmitherman 0:511d65ef1276 210 * If the motor controller is not sending anything then the program will
srsmitherman 0:511d65ef1276 211 * halt indefinitely.
srsmitherman 0:511d65ef1276 212 *
srsmitherman 0:511d65ef1276 213 * @return the byte from the motor controller.
srsmitherman 0:511d65ef1276 214 * @bug There is a suspected bug in this method.
srsmitherman 0:511d65ef1276 215 */
srsmitherman 0:511d65ef1276 216 uint8_t readByte();
srsmitherman 0:511d65ef1276 217
srsmitherman 0:511d65ef1276 218 Serial serialConnection; /**< Serial connection to the motor controller */
srsmitherman 0:511d65ef1276 219 DigitalOut resetPin; /**< The digital output on the controller which is connected to the motor controllers reset pin. */
srsmitherman 0:511d65ef1276 220 InterruptIn errorPin; /**< The digital output on the controller which is connected to the motor controllers error pin. This must be an interrrupt pin on the controller */
srsmitherman 0:511d65ef1276 221 uint8_t errByte; /**< A temporary store for the error code received from the motor controller. */
srsmitherman 0:511d65ef1276 222 uint8_t firmwareVersion; /**< The motor controller firmware version */
srsmitherman 0:511d65ef1276 223 bool enableCRC; /**< this value will be true if CRCs are expected by the motor controller. */
srsmitherman 0:511d65ef1276 224 CRC7 CRC; /**< The CRC object used to generate the CRC checksums */
srsmitherman 0:511d65ef1276 225
srsmitherman 0:511d65ef1276 226 };
srsmitherman 0:511d65ef1276 227
srsmitherman 0:511d65ef1276 228 #endif /* POLOLUQIK2_H_ */