Hard brake rather than coast
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Diff: PololuQik2.h
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PololuQik2.h Mon Mar 03 19:34:13 2014 +0000 @@ -0,0 +1,228 @@ +/** + * @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_ */