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Example
Fork of PololuQik2 by
PololuQik2.cpp
- Committer:
- srsmitherman
- Date:
- 2014-03-03
- Revision:
- 0:511d65ef1276
File content as of revision 0:511d65ef1276:
/** * @file PololuQik2.cpp * @author Edward Wilson (edwilson1989@gmail.com) * @date Aug 6, 2010 * @brief PololuQik2 motor drivers */ /************************************************************* 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 Author: Edward Wilson (edwilson1989@gmail.com) History: Version: 1.0 August 6, 2010 Initial code 1.1 December 28, 2010 Composition constructor added 1.3 April 22, 2011 Ported for MBED ************************************************************/ #include "PololuQik2.h" PololuQik2::PololuQik2(PinName TxPin, PinName RxPin, PinName RSTPin, PinName errPin, void (*ErrorFunction)(void), bool enCRC):CRC(), resetPin(RSTPin), errorPin(errPin), serialConnection(TxPin,RxPin) { serialConnection.baud(38400); enableCRC = enCRC; errorPin.rise(ErrorFunction); } void PololuQik2::begin() { serialConnection.baud(38400); wait_ms(100); // Allow Serial baud rate to propagate resetPin = 0; wait_ms(100); resetPin = 1; wait_ms(10); unsigned char message[] = { INITIALPACKET }; sendMessage(message, 1); wait_ms(100); } void PololuQik2::setMotor0Speed(int8_t speed) { if (speed < 0) { unsigned char message[] = {MOTOR0REVERSEPACKET, (-1*speed)}; sendMessage(message , 2); } else if (speed > 0) { unsigned char message[] = {MOTOR0FORWARDPACKET, speed}; sendMessage(message , 2); } else { unsigned char message[] = {MOTOR0REVERSEPACKET, 0}; sendMessage(message , 2); } } void PololuQik2::setMotor1Speed(int8_t speed) { if (speed < 0) { unsigned char message[] = {MOTOR1REVERSEPACKET, (-1*speed)}; sendMessage(message , 2); } else if (speed > 0) { unsigned char message[] = {MOTOR1FORWARDPACKET, speed}; sendMessage(message , 2); } else { unsigned char message[] = {MOTOR1REVERSEPACKET, 0}; sendMessage(message , 2); } } void PololuQik2::stopBothMotors() { setMotor0Speed(0); setMotor1Speed(0); } void PololuQik2::sendMessage(unsigned char message[], uint8_t length) { if (enableCRC) { uint8_t chk = CRC.CRC(message, length); for (int8_t i = 0; i < length; i++) sendByte(message[i]); sendByte(chk); } else { for (int8_t i = 0; i < length; i++) sendByte(message[i]); } } uint8_t PololuQik2::readByte() { while (!serialConnection.readable()); return serialConnection.getc(); } void PololuQik2::sendByte(uint8_t byte) { serialConnection.putc(byte); } uint8_t PololuQik2::getFirmwareVersion() { unsigned char message[] = { FWVERSIONPACKET }; sendMessage(message, 1); return readByte(); } bool PololuQik2::hasCRCError() { return errorBitSet(CRCERRORBIT); } bool PololuQik2::errorBitSet(uint8_t bitToCheck) { return (1 << bitToCheck) & errByte; } bool PololuQik2::hasFrameError() { return errorBitSet(FRAMEERRORBIT); } bool PololuQik2::hasDataOverrunError() { return errorBitSet(DATAOVERRUNERRORBIT); } bool PololuQik2::hasFormatError() { return errorBitSet(FORMATERRORBIT); } bool PololuQik2::hasTimeoutError() { return errorBitSet(TIMEOUTERRORBIT); } uint8_t PololuQik2::getError() { unsigned char message[] = { ERRORPACKET }; sendMessage(message, 1); return readByte(); }