Diff: PololuQik2.h

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0:511d65ef1276

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+/**
+ *    @file         PololuQik2.h
+ *    @author       Edward Wilson (edwilson1989@gmail.com)
+ *    @author       Eric Fialkowski (eric.fialkowski@gmail.com)
+ *    @date         Aug 6, 2010
+ *    @brief        PololuQik2 motor drivers.
+ *
+ *  @details This class is a derivative work based on work of Mr Fialkowski.
+ *
+ *  PololuQik2 - basic class to control Pololu's Qik2s9v1
+ *    motor controller (http://www.pololu.com/catalog/product/1110)
+ *
+ * This uses the default settings for the motor controller and the
+ * Compact Protocol to communicate to it.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  @version 1.0    August 6, 2010      Initial code
+ *  @version 1.2    December 28, 2010   Composition constructor added
+ *  @version 1.3    April 22, 2011      Ported for MBED
+ */
+
+#ifndef POLOLUQIK2_H_
+#define POLOLUQIK2_H_
+
+#include "CRC7.h"
+#include "mbed.h"
+#include <inttypes.h>
+
+#define INITIALPACKET 0xAA /**< The packet used to initialise the motor controller*/
+#define MOTOR0FORWARDPACKET 0x88 /**< The packet used to set motor 0 forward */
+#define MOTOR1FORWARDPACKET 0x8C /**< The packet used to set motor 1 forward */
+#define MOTOR0REVERSEPACKET 0x8A /**< The packet used to set motor 0 in reverse */
+#define MOTOR1REVERSEPACKET 0x8E /**< The packet used to set motor 1 in reverse */
+#define MOTOR0COASTPACKET 0x86 /**< The packet used to all motor 0 to coast */
+#define MOTOR1COASTPACKET 0x87 /**< The packet used to all motor 1 to coast */
+#define FWVERSIONPACKET 0x81 /**< The packet to query the firmware version of the motor controller */
+#define ERRORPACKET 0x82 /**< The packet to request the error state from the motor controller */
+
+#define DATAOVERRUNERRORBIT 3 /**< The bit which signifies a data over run error */
+#define FRAMEERRORBIT 4 /**< The bit which signifies a frame error */
+#define CRCERRORBIT 5 /**< The bit which signifies CRC error */
+#define FORMATERRORBIT 6 /**< The bit which signifies a format error */
+#define TIMEOUTERRORBIT 7 /**< The bit which signifies time out error */
+
+/**
+ * This is the driver for the motor controller. This is to control a Qik2s9v1.
+ * It will not control multiple motor and it does not support daisy chaining motor controllers.
+ *
+ * The specification for the motor controller can be found http://www.pololu.com/catalog/product/1110/
+ *
+ * This motor controller is based on the work of Mr Fialkowski.
+ * This motor controller requires the newSoftSerial library be installed on the build path.
+ * This motor controller also requires the CRC7 class.
+ *
+ * @see CRC7
+ */
+class PololuQik2 {
+public:
+
+    /**
+     * The parameterised constructor for the pololuQik2 motor controller.
+     *
+     * @attention It is important to call the begin() method as this initialises the controller.
+     * @see begin()
+     *
+     * @param txPin the pin on the controller to use for transmitting serial bytes.
+     * @param rxPin the pin on the controller to use for recieving serial bytes.
+     * @param errPin the digital output pin to use to reset the motor controller.
+     * @param EnableCRC true if CRC should be used when communicating with the motor controller.
+     * @param reset the pin on the controller to use to reset the motor controller.
+     */
+    PololuQik2::PololuQik2(PinName TxPin, PinName RxPin, PinName RSTPin, PinName errPin, void (*errorFunction)(void), bool enCRC);
+
+    /**
+     * This method initialises and begins communication with the motor controller.
+     * This method is also called when an error is exhibited.
+     *
+     * @see PololuQik2()
+     */
+    void begin();
+
+    /**
+     * sets the speed of motor 0. This command has superseded motor0Forwards and motor0Reverse.
+     * If the speed is less than 0 then the motor will reverse.
+     * If the speed is greater than 0 then the motor will run forward
+     * If the speed is 0 then the motor will be stopped.
+     *
+     * The bound for the speed are -127 to 127.
+     * @since 1.2
+     * @param speed the speed of the motor. If this value is negative the motor will reverse to the
+     * appropriate speed.
+     */
+    void setMotor0Speed(int8_t speed);
+
+    /**
+     * sets the speed of motor 1. This command has superseded motor1Forwards and motor1Reverse.
+     * If the speed is less than 0 then the motor will reverse.
+     * If the speed is greater than 0 then the motor will run forward
+     * If the speed is 0 then the motor will be stopped.
+     *
+     * The bound for the speed are -127 to 127.
+     * @since 1.2
+     * @param speed the speed of the motor. If this value is negative the motor will reverse to the
+     * appropriate speed.
+     */
+    void setMotor1Speed(int8_t speed);
+
+    /**
+     * instructs the motor controller to halt both motors.
+     * This is equivalent to called any of the forward or reverse methods
+     * with the speed as zero (0).
+     */
+    void stopBothMotors();
+
+    /**
+     * retrieves the firmware version from the motor controller. This will return one of two values.
+     * Either the ASCII representation of 1 or the ASCII representation of 2.
+     *
+     * The return from this method will be either 49 or 50. If otherwise there is an error.
+     *
+     * @return the firmware version of the motor controller.
+     */
+    uint8_t getFirmwareVersion();
+
+    /**
+     * Checks if the motor controller has a Data over run error
+     *
+     * returns true if it has a data over run error
+     */
+    bool hasDataOverrunError();
+
+    /**
+     * Checks if the motor controller has a Frame error
+     *
+     * returns true if it has a Frame error
+     */
+    bool hasFrameError();
+
+    /**
+     * Checks if the motor controller has a CRC error
+     *
+     * returns true if it has a CRC error
+     */
+    bool hasCRCError();
+
+    /**
+     * Checks if the motor controller has a Format error
+     *
+     * returns true if it has a Format error
+     */
+    bool hasFormatError();
+
+    /**
+     * Checks if the motor controller has a time out error
+     *
+     * returns true if it has a time out error
+     */
+    bool hasTimeoutError();
+
+private:
+
+    void errorCall();
+    
+    /**
+     * This actually sends the data to the motor controller.
+     *
+     * @param message[] the message to be sent
+     * @param length the length of the message to be sent
+     */
+    void sendMessage(unsigned char message[], uint8_t length);
+
+    /**
+     * Checks if a specific bit in the error byte is set.
+     * @param bitToCheck the bit number to check. Assume that the least significant bit is bit 1.
+     * @return true if the bit is set.
+     */
+    bool errorBitSet(uint8_t bitToCheck);
+
+    /**
+     * retrieves the error value from the motor controller and stores it in the
+     * class internal workings.
+     *
+     * @see errorBitSet()
+     * @see error()
+     */
+    uint8_t getError();
+    
+    /**
+     * sends a single byte to the motor controller
+     *
+     * @param byte the byte of data to send
+     */
+    void sendByte(uint8_t byte);
+
+    /**
+     * Reads a byte from the motor controller. This is a blocking call.
+     * If the motor controller is not sending anything then the program will
+     * halt indefinitely.
+     *
+     * @return the byte from the motor controller.
+     * @bug There is a suspected bug in this method.
+     */
+    uint8_t readByte();
+
+    Serial serialConnection; /**< Serial connection to the motor controller */
+    DigitalOut resetPin; /**< The digital output on the controller which is connected to the motor controllers reset pin. */
+    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 */
+    uint8_t errByte; /**< A temporary store for the error code received from the motor controller. */
+    uint8_t firmwareVersion; /**< The motor controller firmware version */
+    bool enableCRC; /**< this value will be true if CRCs are expected by the motor controller. */
+    CRC7 CRC; /**< The CRC object used to generate the CRC checksums */
+
+};
+
+#endif /* POLOLUQIK2_H_ */