PololuQik2.h

00001 /**
00002  *    @file         PololuQik2.h
00003  *    @author       Edward Wilson (edwilson1989@gmail.com)
00004  *    @author       Eric Fialkowski (eric.fialkowski@gmail.com)
00005  *    @date         Aug 6, 2010
00006  *    @brief        PololuQik2 motor drivers.
00007  *
00008  *  @details This class is a derivative work based on work of Mr Fialkowski.
00009  *
00010  *  PololuQik2 - basic class to control Pololu's Qik2s9v1
00011  *    motor controller (http://www.pololu.com/catalog/product/1110)
00012  *
00013  * This uses the default settings for the motor controller and the
00014  * Compact Protocol to communicate to it.
00015  *
00016  * This library is free software; you can redistribute it and/or
00017  * modify it under the terms of the GNU Lesser General Public
00018  * License as published by the Free Software Foundation; either
00019  * version 2.1 of the License, or (at your option) any later version.
00020  *
00021  * This library is distributed in the hope that it will be useful,
00022  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00023  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00024  * Lesser General Public License for more details.
00025  *
00026  * You should have received a copy of the GNU Lesser General Public
00027  * License along with this library; if not, write to the Free Software
00028  * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00029  *
00030  *  @version 1.0    August 6, 2010      Initial code
00031  *  @version 1.2    December 28, 2010   Composition constructor added
00032  *  @version 1.3    April 22, 2011      Ported for MBED
00033  */
00034 
00035 #ifndef POLOLUQIK2_H_
00036 #define POLOLUQIK2_H_
00037 
00038 #include "CRC7.h"
00039 #include "mbed.h"
00040 #include <inttypes.h>
00041 
00042 #define INITIALPACKET 0xAA /**< The packet used to initialise the motor controller*/
00043 #define MOTOR0FORWARDPACKET 0x88 /**< The packet used to set motor 0 forward */
00044 #define MOTOR1FORWARDPACKET 0x8C /**< The packet used to set motor 1 forward */
00045 #define MOTOR0REVERSEPACKET 0x8A /**< The packet used to set motor 0 in reverse */
00046 #define MOTOR1REVERSEPACKET 0x8E /**< The packet used to set motor 1 in reverse */
00047 #define MOTOR0COASTPACKET 0x86 /**< The packet used to all motor 0 to coast */
00048 #define MOTOR1COASTPACKET 0x87 /**< The packet used to all motor 1 to coast */
00049 #define FWVERSIONPACKET 0x81 /**< The packet to query the firmware version of the motor controller */
00050 #define ERRORPACKET 0x82 /**< The packet to request the error state from the motor controller */
00051 
00052 #define DATAOVERRUNERRORBIT 3 /**< The bit which signifies a data over run error */
00053 #define FRAMEERRORBIT 4 /**< The bit which signifies a frame error */
00054 #define CRCERRORBIT 5 /**< The bit which signifies CRC error */
00055 #define FORMATERRORBIT 6 /**< The bit which signifies a format error */
00056 #define TIMEOUTERRORBIT 7 /**< The bit which signifies time out error */
00057 
00058 /**
00059  * This is the driver for the motor controller. This is to control a Qik2s9v1.
00060  * It will not control multiple motor and it does not support daisy chaining motor controllers.
00061  *
00062  * The specification for the motor controller can be found http://www.pololu.com/catalog/product/1110/
00063  *
00064  * This motor controller is based on the work of Mr Fialkowski.
00065  * This motor controller requires the newSoftSerial library be installed on the build path.
00066  * This motor controller also requires the CRC7 class.
00067  *
00068  * @see CRC7
00069  */
00070 class PololuQik2 {
00071 public:
00072 
00073     /**
00074      * The parameterised constructor for the pololuQik2 motor controller.
00075      *
00076      * @attention It is important to call the begin() method as this initialises the controller.
00077      * @see begin()
00078      *
00079      * @param txPin the pin on the controller to use for transmitting serial bytes.
00080      * @param rxPin the pin on the controller to use for recieving serial bytes.
00081      * @param errPin the digital output pin to use to reset the motor controller.
00082      * @param EnableCRC true if CRC should be used when communicating with the motor controller.
00083      * @param reset the pin on the controller to use to reset the motor controller.
00084      */
00085     PololuQik2::PololuQik2(PinName TxPin, PinName RxPin, PinName RSTPin, PinName errPin, void (*errorFunction)(void), bool enCRC);
00086 
00087     /**
00088      * This method initialises and begins communication with the motor controller.
00089      * This method is also called when an error is exhibited.
00090      *
00091      * @see PololuQik2()
00092      */
00093     void begin();
00094 
00095     /**
00096      * sets the speed of motor 0. This command has superseded motor0Forwards and motor0Reverse.
00097      * If the speed is less than 0 then the motor will reverse.
00098      * If the speed is greater than 0 then the motor will run forward
00099      * If the speed is 0 then the motor will be stopped.
00100      *
00101      * The bound for the speed are -127 to 127.
00102      * @since 1.2
00103      * @param speed the speed of the motor. If this value is negative the motor will reverse to the
00104      * appropriate speed.
00105      */
00106     void setMotor0Speed(int8_t speed);
00107 
00108     /**
00109      * sets the speed of motor 1. This command has superseded motor1Forwards and motor1Reverse.
00110      * If the speed is less than 0 then the motor will reverse.
00111      * If the speed is greater than 0 then the motor will run forward
00112      * If the speed is 0 then the motor will be stopped.
00113      *
00114      * The bound for the speed are -127 to 127.
00115      * @since 1.2
00116      * @param speed the speed of the motor. If this value is negative the motor will reverse to the
00117      * appropriate speed.
00118      */
00119     void setMotor1Speed(int8_t speed);
00120 
00121     /**
00122      * instructs the motor controller to halt both motors.
00123      * This is equivalent to called any of the forward or reverse methods
00124      * with the speed as zero (0).
00125      */
00126     void stopBothMotors();
00127 
00128     /**
00129      * retrieves the firmware version from the motor controller. This will return one of two values.
00130      * Either the ASCII representation of 1 or the ASCII representation of 2.
00131      *
00132      * The return from this method will be either 49 or 50. If otherwise there is an error.
00133      *
00134      * @return the firmware version of the motor controller.
00135      */
00136     uint8_t getFirmwareVersion();
00137 
00138     /**
00139      * Checks if the motor controller has a Data over run error
00140      *
00141      * returns true if it has a data over run error
00142      */
00143     bool hasDataOverrunError();
00144 
00145     /**
00146      * Checks if the motor controller has a Frame error
00147      *
00148      * returns true if it has a Frame error
00149      */
00150     bool hasFrameError();
00151 
00152     /**
00153      * Checks if the motor controller has a CRC error
00154      *
00155      * returns true if it has a CRC error
00156      */
00157     bool hasCRCError();
00158 
00159     /**
00160      * Checks if the motor controller has a Format error
00161      *
00162      * returns true if it has a Format error
00163      */
00164     bool hasFormatError();
00165 
00166     /**
00167      * Checks if the motor controller has a time out error
00168      *
00169      * returns true if it has a time out error
00170      */
00171     bool hasTimeoutError();
00172 
00173 private:
00174 
00175     void errorCall();
00176     
00177     /**
00178      * This actually sends the data to the motor controller.
00179      *
00180      * @param message[] the message to be sent
00181      * @param length the length of the message to be sent
00182      */
00183     void sendMessage(unsigned char message[], uint8_t length);
00184 
00185     /**
00186      * Checks if a specific bit in the error byte is set.
00187      * @param bitToCheck the bit number to check. Assume that the least significant bit is bit 1.
00188      * @return true if the bit is set.
00189      */
00190     bool errorBitSet(uint8_t bitToCheck);
00191 
00192     /**
00193      * retrieves the error value from the motor controller and stores it in the
00194      * class internal workings.
00195      *
00196      * @see errorBitSet()
00197      * @see error()
00198      */
00199     uint8_t getError();
00200     
00201     /**
00202      * sends a single byte to the motor controller
00203      *
00204      * @param byte the byte of data to send
00205      */
00206     void sendByte(uint8_t byte);
00207 
00208     /**
00209      * Reads a byte from the motor controller. This is a blocking call.
00210      * If the motor controller is not sending anything then the program will
00211      * halt indefinitely.
00212      *
00213      * @return the byte from the motor controller.
00214      * @bug There is a suspected bug in this method.
00215      */
00216     uint8_t readByte();
00217 
00218     Serial serialConnection; /**< Serial connection to the motor controller */
00219     DigitalOut resetPin; /**< The digital output on the controller which is connected to the motor controllers reset pin. */
00220     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 */
00221     uint8_t errByte; /**< A temporary store for the error code received from the motor controller. */
00222     uint8_t firmwareVersion; /**< The motor controller firmware version */
00223     bool enableCRC; /**< this value will be true if CRCs are expected by the motor controller. */
00224     CRC7 CRC; /**< The CRC object used to generate the CRC checksums */
00225 
00226 };
00227 
00228 #endif /* POLOLUQIK2_H_ */