RoboClaw.h

00001 #ifndef ROBOCLAW_H
00002 #define ROBOCLAW_H
00003 #include "mbed.h"
00004 #include "registers.h"
00005 #include "UARTSerial_mio.h"
00006 /** The RoboClaw class, yo ucan use the library with : http://www.ionmc.com/RoboClaw-2x15A-Motor-Controller_p_10.html
00007 *   Used to control one or two motors with (or not) encoders
00008 *  @code
00009 * #include "mbed.h"
00010 * #include "RoboClaw.h"
00011 *
00012 * RoboClaw roboclaw(115200, PA_11, PA_12);
00013 * 
00014 * int main() {
00015 *     roboclaw.ForwardM1(ADR, 127);
00016 *     while(1);
00017 * }
00018 * @endcode
00019 */
00020 
00021 class RoboClaw
00022 {
00023 public:
00024     /** Create RoboClaw instance
00025     */
00026     RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx, double _read_timeout);
00027     
00028     /** Forward and Backward functions
00029     * @param address address of the device
00030     * @param speed speed of the motor (between 0 and 127)
00031     * @note Forward and Backward functions
00032     */
00033     void ForwardM1(int speed);
00034     void BackwardM1(int speed);
00035     void ForwardM2(int speed);
00036     void BackwardM2(int speed);
00037     
00038     /** Forward and Backward functions
00039     * @param address address of the device
00040     * @param speed speed of the motor (between 0 and 127)
00041     * @note Forward and Backward functions, it turns the two motors
00042     */
00043     void Forward(int speed);
00044     void Backward(int speed);
00045     
00046     /** Read the Firmware
00047     * @param address address of the device
00048     */
00049     void ReadFirm();
00050     
00051     /** Read encoder and speed of M1 or M2
00052     * @param address address of the device
00053     * @note Read encoder in ticks
00054     * @note Read speed in ticks per second
00055     */
00056     bool ReadEncM1(int32_t &encPulse);
00057     bool ReadEncM2(int32_t &encPulse);
00058     bool ReadSpeedM1(int32_t &speed);
00059     bool ReadSpeedM2(int32_t &speed);
00060     bool ReadCurrentM1M2(int32_t &currentM1, int32_t &currentM2);
00061     
00062     
00063     /** Set both encoders to zero
00064     * @param address address of the device
00065     */
00066     void ResetEnc();
00067     
00068     /** Set speed of Motor with different parameter (only in ticks)
00069     * @param address address of the device
00070     * @note Set the Speed
00071     * @note Set the Speed and Accel
00072     * @note Set the Speed and Distance
00073     * @note Set the Speed, Accel and Distance
00074     * @note Set the Speed, Accel, Decceleration and Position
00075     */
00076     void SpeedM1(int32_t speed);
00077     void SpeedM2(int32_t speed);
00078     void SpeedAccelM1(int32_t accel, int32_t speed);
00079     void SpeedAccelM2(int32_t accel, int32_t speed);
00080     void SpeedAccelM1M2(int32_t accel, int32_t speed1, int32_t speed2);
00081     void SpeedDistanceM1(int32_t speed, uint32_t distance, uint8_t buffer);
00082     void SpeedDistanceM2(int32_t speed, uint32_t distance, uint8_t buffer);
00083     void SpeedAccelDistanceM1(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
00084     void SpeedAccelDistanceM2(int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);
00085     void SpeedAccelDeccelPositionM1(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
00086     void SpeedAccelDeccelPositionM2(uint32_t accel, int32_t speed, uint32_t deccel, int32_t position, uint8_t flag);
00087     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);
00088     
00089 private:
00090     UARTSerial_mio _roboclaw;
00091     uint16_t crc;
00092     uint8_t address;
00093     void crc_clear();
00094     void crc_update(uint8_t data);
00095     uint16_t crc_get();
00096     
00097     void write_n(uint8_t cnt, ...);
00098     void write_(uint8_t command, uint8_t data, bool reading, bool crcon);
00099     
00100     uint16_t crc16(uint8_t *packet, int nBytes);
00101     int16_t read_(void);
00102     bool read_n(uint8_t address, uint8_t cmd, int n_byte, int32_t &value);
00103     void flushSerialBuffer(void);
00104     void Rx_interrupt();
00105     // Circular buffers for serial TX and RX data - used by interrupt routines
00106     const int buffer_size = 7;
00107     // might need to increase buffer size for high baud rates
00108     char rx_buffer[7];
00109     // Circular buffer pointers
00110     // volatile makes read-modify-write atomic 
00111     //Timer readTimer;
00112     //double readTime;
00113     //double readTimePrec;
00114     volatile int rx_in;
00115     double read_timeout;
00116     // Line buffers for sprintf and sscanf
00117 
00118     char rx_line[80];
00119 };
00120 
00121 #endif