BridgeDriver class For controlling the Test Controller bridges. More...

#include <BridgeDriver.h>

Public Types
enum	Motors
	Channel pair labels. More...
Public Member Functions
	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)
	Create BridgeDriver object.
	~BridgeDriver ()
	Destroy BridgeDriver object.
void	enablePwm (uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD)
	Enables/disables PWM for channel pairs.
void	enablePwm (Motors motor, uint8_t enPwm)
	Enables/disables PWM for a given channel pair.
void	enableBraking (uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD)
	Enables/disables braking for channel pairs.
void	enableBraking (Motors motor, uint8_t enBrake)
	Enables/disables braking for given channel pair.
int	forceBrake (uint8_t ch)
	Force a specific channel to GND without changing braking default Will fail if PWM is enabled on given channel.
int	forceBrake (Motors motor)
	Force a specific motor (channel pair) to GND without changing braking default Will fail if PWM is disabled on given channel.
int	forceFloat (uint8_t ch)
	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.
int	forceFloat (Motors motor)
	Force a specific motor to float without changing braking default Will fail if PWM is disabled on given channel.
int	drive (uint8_t state)
	Set all outputs with a single byte (bitwise control).
int	drive (uint8_t ch, uint8_t on)
	Set the output of one channel.
float	drive (Motors motor, float speed)
	Control the speed of a motor.
float	drive (Motors motor, int8_t dir, float speed)
	Control the speed of a motor.
void	diagnostic (TextLCD_I2C *lcd)
	Display diagnostic information on the LCD.
void	setPWMperiod (float newPWMperiod)
	Change the PWM period.

Detailed Description

BridgeDriver class For controlling the Test Controller bridges.

Definition at line 28 of file BridgeDriver.h.

Member Enumeration Documentation

enum Motors

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.

Definition at line 39 of file BridgeDriver.h.

Constructor & Destructor Documentation

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`
	)

Create BridgeDriver object.

Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels. Disabling PWM for a channel pair allows individual on/off control for each channel.

MOTOR_A - Channel 1 and 2. MOTOR_B - Channel 3 and 4. MOTOR_C - Channel 5 and 6. MOTOR_D - Channel 7 and 8.

Parameters:

*i2c	A pointer to the I2C bus that the Enable control and LED port expanders are on.
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.
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.
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.
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.
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.
ledAddr	(Optional) Address of the LED control port expander. May be necessary if not using rev 1.0 or 2.0 board.

Definition at line 9 of file BridgeDriver.cpp.

~BridgeDriver ( )

Destroy BridgeDriver object.

Definition at line 54 of file BridgeDriver.cpp.

Member Function Documentation

void diagnostic ( TextLCD_I2C * lcd )

Display diagnostic information on the LCD.

Parameters:

*lcd	Pointer to TextLCD object to display info on.

Definition at line 395 of file BridgeDriver.cpp.

int drive	(	uint8_t	ch,
		uint8_t	on
	)

Set the output of one channel.

Parameters:

ch	Channel to set.
on	State to set. 1 drives high, 0 brakes (drives to GND) or floats depending on setting of enBrake.

Returns:: -1 on fauilure, 0 if set to 0, 1 if set to 1.

Definition at line 183 of file BridgeDriver.cpp.

float drive	(	Motors	motor,
		float	speed
	)

Control the speed of a motor.

Parameters:

motor	Motor (channel pair) to control.
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.

Returns:: -1 on failure, speed of set output on success.

Definition at line 203 of file BridgeDriver.cpp.

int drive ( uint8_t state )

Set all outputs with a single byte (bitwise control).

Will fail if PWM is enabled for any motor (channel pair).

Parameters:

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.

Returns:: -1 on failure, 0 if all outputs are set to 0, 1 if any output is set to 1.

Definition at line 160 of file BridgeDriver.cpp.

float drive	(	Motors	motor,
		int8_t	dir,
		float	speed
	)

Control the speed of a motor.

Parameters:

motor	Motor (channel pair) to control.
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.
dir	Set direction to drive motor. 1: forward, -1: reverse, 0: brake, irregardless of setting of enBrake or speed.

Returns:: -1 on failure, speed of set output on success.

Definition at line 219 of file BridgeDriver.cpp.

void enableBraking	(	Motors	motor,
		uint8_t	enBrake
	)

Enables/disables braking for given channel pair.

Parameters:

enBrakeA 1 drives output to GND when off, 0 floats output when off.

Definition at line 108 of file BridgeDriver.cpp.

void enableBraking	(	uint8_t	enBrakeA,
		uint8_t	enBrakeB,
		uint8_t	enBrakeC,
		uint8_t	enBrakeD
	)

Enables/disables braking for channel pairs.

Parameters:

enBrakeA	1 drives output to GND when off, 0 floats output when off.
enBrakeB	1 drives output to GND when off, 0 floats output when off.
enBrakeC	1 drives output to GND when off, 0 floats output when off.
enBrakeD	1 drives output to GND when off, 0 floats output when off.

Definition at line 101 of file BridgeDriver.cpp.

void enablePwm	(	Motors	motor,
		uint8_t	enPwm
	)

Enables/disables PWM for a given channel pair.

Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels. Disabling PWM for a channel pair allows individual on/off control for each channel.

MOTOR_A - Channel 1 and 2. MOTOR_B - Channel 3 and 4. MOTOR_C - Channel 5 and 6. MOTOR_D - Channel 7 and 8.

Parameters:

motor	Motor (channel pair) to enale/disable PWM.
enPwm	1 enables PWM on channel pair for motor control, 0 disables PWM on channel pair for solenoid control.

Definition at line 85 of file BridgeDriver.cpp.

void enablePwm	(	uint8_t	enPwmA,
		uint8_t	enPwmB,
		uint8_t	enPwmC,
		uint8_t	enPwmD
	)

Enables/disables PWM for channel pairs.

Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels. Disabling PWM for a channel pair allows individual on/off control for each channel.

MOTOR_A - Channel 1 and 2. MOTOR_B - Channel 3 and 4. MOTOR_C - Channel 5 and 6. MOTOR_D - Channel 7 and 8.

Parameters:

enPwmA	1 enables PWM on channels 1 and 2 for motor control, 0 disables PWM on channels 1 and 2 for solenoid control.
enPwmB	1 enables PWM on channels 3 and 4 for motor control, 0 disables PWM on channels 3 and 4 for solenoid control.
enPwmC	1 enables PWM on channels 5 and 6 for motor control, 0 disables PWM on channels 5 and 6 for solenoid control.
enPwmD	1 enables PWM on channels 7 and 8 for motor control, 0 disables PWM on channels 7 and 8 for solenoid control.

Definition at line 78 of file BridgeDriver.cpp.

int forceBrake ( uint8_t ch )

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.

Parameters:

ch	Channel to drive to GND

Returns:: 0 on success, non 0 on failure.

Definition at line 112 of file BridgeDriver.cpp.

int forceBrake ( Motors motor )

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.

Parameters:

motor Motor (channel pair) to drive to GND

Returns:: 0 on success, non 0 on failure.

Definition at line 123 of file BridgeDriver.cpp.

int forceFloat ( Motors motor )

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.

Parameters:

motor Motor (channel pair) to float.

Returns:: 0 on success, non 0 on failure.

Definition at line 144 of file BridgeDriver.cpp.

int forceFloat ( uint8_t ch )

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.

Parameters:

ch	Channel to float.

Returns:: 0 on success, non 0 on failure.

Definition at line 127 of file BridgeDriver.cpp.

void setPWMperiod ( float newPWMperiod )

Change the PWM period.

Parameters:

newPWMperiod The new PWM period. In seconds. System default is 0.0002 (5kHz).

Definition at line 412 of file BridgeDriver.cpp.

Type:	Library
Created:	10 Nov 2014
Imports:	0
Forks:	0
Commits:	14
Dependents:	0
Dependencies:	0
Followers:	1

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