Diff: MotorControl.cpp

Revision:

0:1561d2ef40f0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.cpp	Thu May 12 09:41:01 2011 +0000
@@ -0,0 +1,87 @@
+/**
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 Christian Zagel
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * YGE25i Regler
+ *
+ */
+
+/**
+ * Includes
+ */
+#include "MotorControl.h"
+
+YGE25i::YGE25i(PinName sda, PinName scl,char adress_) : i2c_(sda, scl){
+
+    //400kHz, fast mode.
+    i2c_.frequency(400000);
+    adress=adress_;
+}
+
+char YGE25i::YGEReadReg(char reg){
+
+    char rx;
+    reg=reg|0x80;
+    i2c_.write(adress & 0xFE, &reg, 1);
+    i2c_.read(adress | 0x01, &rx, 1);
+    return rx;
+
+}
+
+void YGE25i::YGEWriteReg(char reg, char data){
+
+    char tx[2]; 
+    tx[0] = reg|0x80;
+    tx[1] = data;
+    i2c_.write(adress & 0xFE, tx, 2);  
+}
+
+
+void YGE25i::YGESetPWM(int pwm_){
+
+    throttle=pwm_;
+    char tx;
+    tx=pwm_ & 0x7f;
+    i2c_.write(adress & 0xFE, &tx, 1);
+}  
+
+void YGE25i::setAdress(char adress_){
+    
+    YGEWriteReg(0x07,adress_);
+    adress=adress_;
+}
+
+ 
+
+void YGE25i::initMotor(void){
+    
+    int a = 0;
+    while(a<40){
+    
+        wait_ms(10);
+        YGESetPWM(0);
+        a++;
+    } 
+}
+    
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