Diff: MD25.h

Revision:

0:e7f4a9247af2

Child:

1:8046f460a725

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MD25.h	Thu May 19 12:42:06 2011 +0000
@@ -0,0 +1,105 @@
+// ***********************************************************************
+// Class to control the MD25 Motor Controller.
+//
+// Based on Arduino code by Richie Reynolds
+// ***********************************************************************
+#ifndef MBED_MD25_h
+#define MBED_MD25_h
+
+#include "mbed.h"
+
+#define     MD25_DEFAULT_ADDRESS    0xB0
+//
+// modes
+//
+//  Mode        Description
+//   0    Skid-steer with unsigned speed values (STOP = 128)
+//   1    Skid-steer with signed speed values  (STOP = 0)
+//   2    Forward/turn steer with unsigned values (speed1 to control both motors, speed2 for turn)
+//   3    Forward/turn steer with signed values (speed1 to control both motors, speed2 for turn)
+//
+#define     MODE_0       0
+#define     MODE_1       1
+#define     MODE_2       2
+#define     MODE_3       3
+
+//
+// register definitions
+//
+#define     MD25_SPEED1_REG         0
+#define     MD25_SPEED2_REG         1
+#define     MD25_ENCODER1_REG       2
+#define     MD25_ENCODER2_REG       6
+#define     MD25_VOLTAGE_REG        10
+#define     MD25_CURRENT1_REG       11
+#define     MD25_CURRENT2_REG       12
+#define     MD25_SOFTWAREVER_REG    13
+#define     MD25_ACCELRATE_REG      14
+#define     MD25_MODE_REG           15
+#define     MD25_CMD_REG            16        // command register
+//
+// Command register command set
+//
+#define     MD25_RESET_ENCODERS             0x20
+#define     MD25_DIABLE SPEED_REGULATION    0x30
+#define     MD25_ENABLE_SPEED_REGULATION    0x31
+#define     MD25_DISABLE_TIMEOUT            0x32
+#define     MD25_ENABLE_TIMEOUT             0x33
+
+/** MD25 class
+ *
+ * Allow access to an MD25 Dual 12V 2.8A H-Bridge DC Motor Driver
+ *
+ * @code
+ *      MD25  motor_control(p9,p10);   // assumes default address of 0xB0
+ * or
+ *      MD25  motor_control(p9, p10, 0xB0);
+ * @endcode
+ */
+class MD25 {
+public:
+    /** Constructor for the MD25 connected to specified I2C pins at a specified address
+     *
+     * @param   sda         I2C data pin
+     * @param   scl         I2C clock pin
+     * @param   i2cAddress  I2C address
+     */
+    MD25(PinName sda, PinName scl, int MD25_i2cAddress);
+
+    /** Constructor for the MD25 connected to specified I2C pins at default address
+     *
+     * @param   sda         I2C data pin
+     * @param   scl         I2C clock pin
+     */
+    MD25(PinName sda, PinName scl);
+
+    int32_t getEncoder1();
+    int32_t getEncoder2();
+    void setSpeed1Reg(uint8_t speed);
+    void setSpeed2Reg(uint8_t speed);
+    void stopMotor1();
+    void stopMotor2();
+    void stopMotors();
+    uint32_t getSoftwareVersion();
+    float getBatteryVolts();
+    uint8_t getAccelerationRate();
+    uint8_t getMotor1Current();
+    uint8_t getMotor2Current();
+    uint8_t getMotor1Speed();
+    uint8_t getMotor2Speed();
+    uint8_t getMode();
+    void setMode(uint8_t mode);
+    void setAccelerationRate(uint8_t rate);
+    void setSpeedRegisters(uint8_t speed_1, uint8_t speed_2);
+    void setCommand(uint8_t command);
+
+private:
+    I2C      _i2c;
+    uint8_t  current_mode;
+    uint8_t   MD25_i2cAddress;
+
+    uint8_t readRegisterbyte(uint8_t reg);
+    void writeRegisterbyte(uint8_t reg, uint8_t value);
+};
+
+#endif // MBED_md25_h