Diff: DSHOT150.h

Revision:

0:230008e7b5c8

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+++ b/DSHOT150.h	Sat Apr 27 21:51:38 2019 +0000
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+/*
+    Copyright (c) 2019 Blake West, Kevin Tseng, Tyler Brown, Mason Totri
+ 
+    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.
+*/
+#ifndef MBED_DSHOT15_H
+#define MBED_DSHOT15_H
+#include "mbed.h"
+/** DSHOT150 converts a digital IO pin to act like a DSHOT pulse
+ * This is done through writing one's and zero's a specific amount 
+ * to acheive the correct pulse width in the given duty cycle.
+ *
+ *
+ * Example
+ * @code
+ * #include "mbed.h"
+ * #include "DSHOT150.h"
+ *
+ * DSHOT150 motor( p21 );
+ *
+ * int main() {
+ *
+ *      motor.arm();
+ *      motor.get_tel( true );
+ *      for( float i = 0; i < 1; i+=0.1){
+ *          motor.throttle( i );
+ *      }
+ *
+ *
+ *  }
+ *  @endcode
+ *
+ *  This example will step the motor from 0 to 100% in 10% intervals
+ *
+ */
+class DSHOT150
+{
+public:
+    DSHOT150(PinName pin); //Constructor that takes in 
+    void throttle(float speed); //Throttle value as a percentage [0,1]
+    void get_tel(bool v); //Telemetry request function. Set to true if wanting to receive telemetry from the ESC
+    void arm(); //Arming comand for the motor
+    
+private:
+    void send_packet(); //Sends the packet
+    void check_sum(unsigned int v); //Calculates the check sum, and inserts it into the packet
+    void write_zero(); 
+    void write_one();
+    bool packet[16]; //Packet of data that is being sent
+    DigitalOut _pin; //Pin that is being used.
+    unsigned int tel;
+};
+#endif
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