Mitchell Hatfield
frequency change?
Fork of
BridgeDriver
by 
Jason T
Diff: BridgeDriver.h
- Revision:
- 9:00e8b7afb2c7
- Parent:
- 8:36e2cd31ccf3
- Child:
- 10:60c3d513b872
--- a/BridgeDriver.h Mon Jul 28 18:17:29 2014 +0000
+++ b/BridgeDriver.h Mon Jul 28 21:37:53 2014 +0000
@@ -19,45 +19,162 @@
#define PIN_CH8 P1_26 //hardware PWM1[6]
-#define EN_ADDR 0x40 //i2c address of enable pin port expander
+#define EN_ADDR 0x40 //i2c address of enable pin port expander. 0x40 for rev 1.0, 0x4C for rev 2.0
#define LED_ADDR 0x4E //i2c address of button and LED port expander
-
+/** BridgeDriver class
+ * For controlling the Test Controller bridges
+ */
class BridgeDriver{
public:
+ /** Channel pair labels
+ * MOTOR_A - Channel 1 and 2.
+ * MOTOR_B - Channel 3 and 4.
+ * MOTOR_C - Channel 5 and 6.
+ * MOTOR_D - Channel 7 and 8.
+ */
enum Motors{ MOTOR_A,
MOTOR_B,
MOTOR_C,
MOTOR_D
};
-
+ /** Create BridgeDriver object
+ *
+ * @param *i2c A pointer to the I2C bus that the Enable control and LED port expanders are on.
+ * @param enPwmA (Optional) 1 enables PWM on channels 1 and 2 for motor control, 0 disables PWM on channels 1 and 2 for solenoid control. Defaults to 0.
+ * @param enPwmB (Optional) 1 enables PWM on channels 3 and 4 for motor control, 0 disables PWM on channels 3 and 4 for solenoid control. Defaults to 0.
+ * @param enPwmC (Optional) 1 enables PWM on channels 5 and 6 for motor control, 0 disables PWM on channels 5 and 6 for solenoid control. Defaults to 0.
+ * @param enPwmD (Optional) 1 enables PWM on channels 7 and 8 for motor control, 0 disables PWM on channels 7 and 8 for solenoid control. Defaults to 0.
+ * @param enAddr (Optional) Address of the Enable control port expander. May be necessary if not using a rev 1.0 board. TODO: update for rev 2.0.
+ * @param ledAddr (Optional) Address of the LED control port expander. May be necessary if not using rev 1.0 or 2.0 board.
+ */
BridgeDriver( I2C *i2c, uint8_t enPwmA = 0, uint8_t enPwmB = 0, uint8_t enPwmC = 0, uint8_t enPwmD = 0, uint8_t enAddr = EN_ADDR, uint8_t ledAddr = LED_ADDR);
+ /** Destroy BridgeDriver object
+ */
~BridgeDriver();
+ /** Enables/disables PWM for channel pairs
+ * @param enPwmA 1 enables PWM on channels 1 and 2 for motor control, 0 disables PWM on channels 1 and 2 for solenoid control.
+ * @param enPwmB 1 enables PWM on channels 3 and 4 for motor control, 0 disables PWM on channels 3 and 4 for solenoid control.
+ * @param enPwmC 1 enables PWM on channels 5 and 6 for motor control, 0 disables PWM on channels 5 and 6 for solenoid control.
+ * @param enPwmD 1 enables PWM on channels 7 and 8 for motor control, 0 disables PWM on channels 7 and 8 for solenoid control.
+ */
void enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD);
+
+ /** Enables/disables PWM for a given channel pair
+ * @param motor Motor (channel pair) to enale/disable PWM
+ * @param enPwm 1 enables PWM on channel pair for motor control, 0 disables PWM on channel pair for solenoid control.
+ */
void enablePwm(Motors motor, uint8_t enPwm);
+ /** Enables/disables braking for channel pairs
+ * @param enBrakeA 1 drives output to GND when off, 0 floats output when off
+ * @param enBrakeB 1 drives output to GND when off, 0 floats output when off
+ * @param enBrakeC 1 drives output to GND when off, 0 floats output when off
+ * @param enBrakeD 1 drives output to GND when off, 0 floats output when off
+ */
+ void enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD);
- void enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD); //1 - drives output to GND when off; 0 - floats output when off
+ /** Enables/disables braking for given channel pair
+ * @param enBrakeA 1 drives output to GND when off, 0 floats output when off
+ */
void enableBraking(Motors motor, uint8_t enBrake);
- int forceBrake(uint8_t ch); //force a specific channel to GND without changing braking default
- int forceBrake(Motors motor); //force a specific motor to GND without changing braking default
- int forceFloat(uint8_t ch); //force a specific channel to float without changing braking default
- int forceFloat(Motors motor); //force a specific motor to float without changing braking default
+ /** Force a specific channel to GND without changing braking default
+ * Will fail if PWM is enabled on given channel. Use forceBrake(Motors motor) to force braking on channels with PWM enabled.
+ * @param ch Channel to drive to GND
+ * @return
+ * 0 on success
+ * non 0 on failure
+ */
+ int forceBrake(uint8_t ch);
+
+ /** Force a specific motor (channel pair) to GND without changing braking default
+ * Will fail if PWM is disabled on given channel. Use forceBrake(uint8_t ch) to force braking on channels with PWM disabled.
+ * @param motor Motor (channel pair) to drive to GND
+ * @return
+ * 0 on success
+ * non 0 on failure
+ */
+ int forceBrake(Motors motor);
+
+ /** Force a specific channel to float without changing braking default
+ * Will float both channels of a motor (channel pair) if PWM is enabled for the channel.
+ * @param ch Channel to float.
+ * @return
+ * 0 on success
+ * non 0 on failure
+ */
+ int forceFloat(uint8_t ch);
+ /** Force a specific motor to float without changing braking default
+ * Will fail if PWM is disabled on given channel. Use forceFloat(uint8_t ch) to force floating on channels with PWM disabled.
+ * @param motor Motor (channel pair) to float.
+ * @return
+ * 0 on success
+ * non 0 on failure
+ */
+ int forceFloat(Motors motor);
+
+ /** Set all outputs with a single byte (bitwise control).
+ * Will fail if PWM is enabled for any motor (channel pair).
+ * @param state Sets all the outputs. Each bit controls one channel.
+ * 1 drives high
+ * 0 brakes (drives to GND) or floats depending on setting of enBrake.
+ * @return
+ * -1 on failure
+ * 0 if all outputs are set to 0
+ * 1 if any output is set to 1
+ */
int drive(uint8_t state);
+
+ /** Set the output of one channel
+ * @param ch Channel to set.
+ * @param on State to set.
+ * 1 drives high
+ * 0 brakes (drives to GND) or floats depending on setting of enBrake.
+ * @return
+ * -1 on fauilure
+ * 0 if set to 0
+ * 1 if set to 1
+ */
int drive(uint8_t ch, uint8_t on);
- float drive(Motors motor, float speed); //speed from -1 to 1, speed of 0 will coast or brake depending on setting of _braking
- float drive(Motors motor, int8_t dir, float speed);
- //dir: 1=fwd, -1=rev, 0=brake (irregardless of setting of _braking
- //speed from 0 to 1, speed of 0 will coast or brake depending on setting of _braking
-
+
+ /** Control the speed of a motor
+ * @param motor Motor (channel pair) to control.
+ * @param speed Speed to set motor to. Acceptable range: -1.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake
+ * @return
+ * -1 on failure
+ * speed of set output on success
+ */
+ float drive(Motors motor, float speed);
+
+ /** Control the speed of a motor
+ * @param motor Motor (channel pair) to control.
+ * @param speed Speed to set motor to. Acceptable range: 0.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake
+ * @param dir Set direction to drive motor.
+ * 1: forward
+ * -1: reverse
+ * 0: brake, irregardless of setting of enBrake or speed
+ * @return
+ * -1 on failure
+ * speed of set output on success
+ */
+ float drive(Motors motor, int8_t dir, float speed);
+
+
+ /** Display diagnostic information on the LCD
+ * @param *lcd Pointer to TextLCD object to display info on
+ */
void diagnostic(TextLCD_I2C *lcd);
+
+ /** Change the PWM period
+ * @param newPWMperiod The new PWM period. In seconds. System default is 0.0002 (5kHz)
+ */
void setPWMperiod(float newPWMperiod);