Diff: shared/I2CMD/I2CMD.cpp

Revision:

0:ee7e9405e1c7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/I2CMD/I2CMD.cpp	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,83 @@
+
+#include <math.h>
+#include <shared/I2CMD/I2CMD.h>
+
+I2CMD::I2CMD(I2C *i2c_bus, int i2c_address, int motor_id, int retries)
+    : _i2c_bus(i2c_bus),_i2c_address(i2c_address),_motor_id(motor_id)
+	, _retries(retries), _error(true)
+{
+}
+
+void I2CMD::drive(double strength)
+{
+    uint8_t dir;
+    char data[2];
+
+    if(signbit(strength)) {
+        dir = 1;
+    } else {
+        dir = 0;
+    }
+
+    data[0] = dir;
+    data[1] = conv_strength_to_duty_u8(strength);
+
+    i2c_write('D', data, 2);
+}
+
+void I2CMD::brake(double strength)
+{
+    char data[1];
+    data[0] = conv_strength_to_duty_u8(strength);
+    i2c_write('B', data, 1);
+}
+
+void I2CMD::free()
+{
+    char data[1] = {0};
+    i2c_write('F', data, 1);
+}
+
+void I2CMD::set_retries(int retries)
+{
+	_retries = retries;
+}
+
+bool I2CMD::get_error()
+{
+	return _error;
+}
+
+bool I2CMD::i2c_write(int command, char *data, int length)
+{
+    const int send_length = 2 + length;
+    char send_data[send_length];
+    bool error = true;
+
+    send_data[0] = _motor_id;
+    send_data[1] = command;
+    for(int i = 0; i < length; i++) {
+        send_data[i + 2] = data[i];
+    }
+
+    for(int i = 0; i < _retries && error; i++) {
+    	error = _i2c_bus->write(_i2c_address, send_data, send_length);
+    }
+
+    _error = error;
+    return error;
+}
+
+uint8_t I2CMD::conv_strength_to_duty_u8(double strength)
+{
+    double duty;
+    uint8_t duty_u8;
+
+    duty = fabs(strength);
+    if(duty > 0.3) {
+        duty = 0.3;
+    }
+    duty_u8 = floor(duty * 255);
+
+    return duty_u8;
+}