Diff: RoboClaw/RoboClaw.h

Revision:

0:6b67f1bb9c76

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RoboClaw/RoboClaw.h	Tue Sep 28 10:42:56 2021 +0000
@@ -0,0 +1,121 @@
+#ifndef ROBOCLAW_H
+#define ROBOCLAW_H
+#include "mbed.h"
+#include "registers.h"
+#include "UARTSerial_mio.h"
+/** The RoboClaw class, yo ucan use the library with : http://www.ionmc.com/RoboClaw-2x15A-Motor-Controller_p_10.html
+*   Used to control one or two motors with (or not) encoders
+*  @code
+* #include "mbed.h"
+* #include "RoboClaw.h"
+*
+* RoboClaw roboclaw(115200, PA_11, PA_12);
+* 
+* int main() {
+*     roboclaw.ForwardM1(ADR, 127);
+*     while(1);
+* }
+* @endcode
+*/
+
+class RoboClaw
+{
+public:
+    /** Create RoboClaw instance
+    */
+    RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx, double _read_timeout);
+    
+    /** Forward and Backward functions
+    * @param address address of the device
+    * @param speed speed of the motor (between 0 and 127)
+    * @note Forward and Backward functions
+    */
+    void ForwardM1(int speed);
+    void BackwardM1(int speed);
+    void ForwardM2(int speed);
+    void BackwardM2(int speed);
+    
+    /** Forward and Backward functions
+    * @param address address of the device
+    * @param speed speed of the motor (between 0 and 127)
+    * @note Forward and Backward functions, it turns the two motors
+    */
+    void Forward(int speed);
+    void Backward(int speed);
+    
+    /** Read the Firmware
+    * @param address address of the device
+    */
+    void ReadFirm();
+    
+    /** Read encoder and speed of M1 or M2
+    * @param address address of the device
+    * @note Read encoder in ticks
+    * @note Read speed in ticks per second
+    */
+    bool ReadEncM1(int32_t &encPulse);
+    bool ReadEncM2(int32_t &encPulse);
+    bool ReadSpeedM1(int32_t &speed);
+    bool ReadSpeedM2(int32_t &speed);
+    bool ReadCurrentM1M2(int32_t &currentM1, int32_t &currentM2);
+    
+    
+    /** Set both encoders to zero
+    * @param address address of the device
+    */
+    void ResetEnc();
+    
+    /** Set speed of Motor with different parameter (only in ticks)
+    * @param address address of the device
+    * @note Set the Speed
+    * @note Set the Speed and Accel
+    * @note Set the Speed and Distance
+    * @note Set the Speed, Accel and Distance
+    * @note Set the Speed, Accel, Decceleration and Position
+    */
+    void SpeedM1(int32_t speed);
+    void SpeedM2(int32_t speed);
+    void SpeedAccelM1(int32_t accel, int32_t speed);
+    void SpeedAccelM2(int32_t accel, int32_t speed);
+    void SpeedAccelM1M2(int32_t accel, int32_t speed1, int32_t speed2);
+    void SpeedDistanceM1(int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedDistanceM2(int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM1(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDistanceM2(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
+    void SpeedAccelDeccelPositionM1(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    void SpeedAccelDeccelPositionM2(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
+    void SpeedAccelDeccelPositionM1M2(uint32_t accel1,uint32_t speed1,uint32_t deccel1, int32_t position1,uint32_t accel2,uint32_t speed2,uint32_t deccel2, int32_t position2,uint8_t flag);
+    
+private:
+    UARTSerial_mio _roboclaw;
+    uint16_t crc;
+    uint8_t address;
+    void crc_clear();
+    void crc_update(uint8_t data);
+    uint16_t crc_get();
+    
+    void write_n(uint8_t cnt, ...);
+    void write_(uint8_t command, uint8_t data, bool reading, bool crcon);
+    
+    uint16_t crc16(uint8_t *packet, int nBytes);
+    int16_t read_(void);
+    bool read_n(uint8_t address, uint8_t cmd, int n_byte, int32_t &value);
+    void flushSerialBuffer(void);
+    void Rx_interrupt();
+    // Circular buffers for serial TX and RX data - used by interrupt routines
+    const int buffer_size = 7;
+    // might need to increase buffer size for high baud rates
+    char rx_buffer[7];
+    // Circular buffer pointers
+    // volatile makes read-modify-write atomic 
+    //Timer readTimer;
+    //double readTime;
+    //double readTimePrec;
+    volatile int rx_in;
+    double read_timeout;
+    // Line buffers for sprintf and sscanf
+
+    char rx_line[80];
+};
+
+#endif
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