Steven Kay / SD20

This is a driver to control the SD20 20 Channel I2C to Servo Driver Chip from www.robot-electronics.co.uk (http://www.robot-electronics.co.uk/htm/sd20tech.htm). This driver will allow a servo channel to be started up, stopped and the duty cycle altered in standard mode. No attempt to include the extended mode is included.

Files at this revision

API Documentation at this revision

Revision 6:973d6a66dbf7, committed 2016-03-04

Comitter:
sk398
Date:
Fri Mar 04 23:04:28 2016 +0000
Parent:
5:eba9f639154c
Commit message:
Modified updateChannel to accept 2 chars instead of char *; ; Still having huge issue with printf statement, only working with this.

Changed in this revision

SD20.cpp Show annotated file Show diff for this revision Revisions of this file
SD20.h Show annotated file Show diff for this revision Revisions of this file 
--- a/SD20.cpp	Thu Feb 25 20:26:24 2016 +0000
+++ b/SD20.cpp	Fri Mar 04 23:04:28 2016 +0000
@@ -31,17 +31,21 @@
     _bus -> frequency(BUS_FREQ);
 }
 
-int SD20::UpdateChannel(char *newDutyCycle)
+int SD20::UpdateChannel(char channelReg, char channelSpeed)
 {
         // Output new duty cycle to SD20, return 0 if successful, 1 if unsuccessful
-        if(_bus -> write(SD20_ADDRESS,newDutyCycle,OUT_BUF_LEN))
+        updateDutyCycle[0] = channelReg;
+        updateDutyCycle[1] = channelSpeed;
+        
+        if(_bus -> write(SD20_ADDRESS,updateDutyCycle,2))
         {
-            printf("I2C Failed to write\r\n");
+//            printf("I2C Failed to write\r\n");
             return 1;
         }
         else
         {
-//            printf("Reg: 0x%02x Data: 0x%02x\r\n",*newDutyCycle,*(newDutyCycle+1));
+//            updateDutyCycle = *(updateDutyCycle+1)
+            printf("Reg: 0x%02x Data: 0x%02x\r\n",*updateDutyCycle,*(updateDutyCycle+1));
             return 0;
         }
 }
@@ -51,10 +55,10 @@
         // Startup a new channel, return 0 if successful, 1 if unsuccessful
         if(Start == CHANNEL_START)
         {
-            char newDutyCycle[] = {ServoChannel,CHANNEL_START};
-            if(_bus -> write(SD20_ADDRESS,newDutyCycle,OUT_BUF_LEN))
+            char startDutyCycle[] = {ServoChannel,CHANNEL_START};
+            if(_bus -> write(SD20_ADDRESS,startDutyCycle,OUT_BUF_LEN))
             {
-                printf("I2C Failed to write\r\n");
+//                printf("I2C Failed to write\r\n");
                 return 1;
             }
             else
@@ -67,10 +71,10 @@
         // Stop channel, return 0 if successful, 1 if unsuccessful
         else
         {
-           char newDutyCycle[] = {ServoChannel,CHANNEL_STOP};
-            if(_bus -> write(SD20_ADDRESS,newDutyCycle,OUT_BUF_LEN))
+           char stopDutyCycle[] = {ServoChannel,CHANNEL_STOP};
+            if(_bus -> write(SD20_ADDRESS,stopDutyCycle,OUT_BUF_LEN))
             {
-                printf("I2C Failed to write\r\n");
+//                printf("I2C Failed to write\r\n");
                 return 1;
             }
             else
@@ -86,7 +90,7 @@
         char outputBuf[] = {STD_ETD_MODE_CTRL,STD_MODE};
         if(_bus -> write(SD20_ADDRESS,outputBuf,OUT_BUF_LEN))
         {
-            printf("I2C Failed to write\r\n");
+//            printf("I2C Failed to write\r\n");
             return 1;
         }
         else

--- a/SD20.h	Thu Feb 25 20:26:24 2016 +0000
+++ b/SD20.h	Fri Mar 04 23:04:28 2016 +0000
@@ -94,7 +94,8 @@
 
 private:
     I2C *_bus;
-
+    
+    char updateDutyCycle[2];
 public:
 
     /** Create a SD20 Constructor, connected over I2C Master connection
@@ -120,7 +121,7 @@
      *  parameter mode:         Select whether debug mode[0] and prints result or implementation mode [1] 
      *                          where print commands are skipped to save operational time
      */
-    int UpdateChannel(char *DataOutput);
+    int UpdateChannel(char channelReg, char channelSpeed);
 
 
     int SetStandardMode();