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PololuQik2.h
- Committer:
- tashworth
- Date:
- 2014-04-05
- Revision:
- 3:01272a06e922
- Parent:
- 2:25c41766d768
File content as of revision 3:01272a06e922:
/** * @file PololuQik2.h * @author Edward Wilson (edwilson1989@gmail.com) * @author Eric Fialkowski (eric.fialkowski@gmail.com) * @date Aug 6, 2010 * @brief PololuQik2 motor drivers. * * @details This class is a derivative work based on work of Mr Fialkowski. * * PololuQik2 - basic class to control Pololu's Qik2s9v1 * motor controller (http://www.pololu.com/catalog/product/1110) * * This uses the default settings for the motor controller and the * Compact Protocol to communicate to it. * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * * @version 1.0 August 6, 2010 Initial code * @version 1.2 December 28, 2010 Composition constructor added * @version 1.3 April 22, 2011 Ported for MBED */ #ifndef POLOLUQIK2_H_ #define POLOLUQIK2_H_ #include "CRC7.h" #include "mbed.h" #include <inttypes.h> #define INITIALPACKET 0xAA /**< The packet used to initialise the motor controller*/ #define MOTOR0FORWARDPACKET 0x88 /**< The packet used to set motor 0 forward */ #define MOTOR1FORWARDPACKET 0x8C /**< The packet used to set motor 1 forward */ #define MOTOR0REVERSEPACKET 0x8A /**< The packet used to set motor 0 in reverse */ #define MOTOR1REVERSEPACKET 0x8E /**< The packet used to set motor 1 in reverse */ #define MOTOR0COASTPACKET 0x86 /**< The packet used to all motor 0 to coast */ #define MOTOR1COASTPACKET 0x87 /**< The packet used to all motor 1 to coast */ #define FWVERSIONPACKET 0x81 /**< The packet to query the firmware version of the motor controller */ #define ERRORPACKET 0x82 /**< The packet to request the error state from the motor controller */ #define DATAOVERRUNERRORBIT 3 /**< The bit which signifies a data over run error */ #define FRAMEERRORBIT 4 /**< The bit which signifies a frame error */ #define CRCERRORBIT 5 /**< The bit which signifies CRC error */ #define FORMATERRORBIT 6 /**< The bit which signifies a format error */ #define TIMEOUTERRORBIT 7 /**< The bit which signifies time out error */ /** * This is the driver for the motor controller. This is to control a Qik2s9v1. * It will not control multiple motor and it does not support daisy chaining motor controllers. * * The specification for the motor controller can be found http://www.pololu.com/catalog/product/1110/ * * This motor controller is based on the work of Mr Fialkowski. * This motor controller requires the newSoftSerial library be installed on the build path. * This motor controller also requires the CRC7 class. * * @see CRC7 */ class PololuQik2 { public: /** * The parameterised constructor for the pololuQik2 motor controller. * * @attention It is important to call the begin() method as this initialises the controller. * @see begin() * * @param txPin the pin on the controller to use for transmitting serial bytes. * @param rxPin the pin on the controller to use for recieving serial bytes. * @param errPin the digital output pin to use to reset the motor controller. * @param EnableCRC true if CRC should be used when communicating with the motor controller. * @param reset the pin on the controller to use to reset the motor controller. */ PololuQik2::PololuQik2(PinName TxPin, PinName RxPin, PinName RSTPin, PinName errPin, void (*errorFunction)(void), bool enCRC); /** * This method initialises and begins communication with the motor controller. * This method is also called when an error is exhibited. * * @see PololuQik2() */ void begin(); /** * sets the speed of motor 0. This command has superseded motor0Forwards and motor0Reverse. * If the speed is less than 0 then the motor will reverse. * If the speed is greater than 0 then the motor will run forward * If the speed is 0 then the motor will be stopped. * * The bound for the speed are -127 to 127. * @since 1.2 * @param speed the speed of the motor. If this value is negative the motor will reverse to the * appropriate speed. */ void setMotor0Speed(int8_t speed); /** * sets the speed of motor 1. This command has superseded motor1Forwards and motor1Reverse. * If the speed is less than 0 then the motor will reverse. * If the speed is greater than 0 then the motor will run forward * If the speed is 0 then the motor will be stopped. * * The bound for the speed are -127 to 127. * @since 1.2 * @param speed the speed of the motor. If this value is negative the motor will reverse to the * appropriate speed. */ void setMotor1Speed(int8_t speed); /** * instructs the motor controller to halt both motors. * This is equivalent to called any of the forward or reverse methods * with the speed as zero (0). */ void stopBothMotors(int8_t speed); /** * retrieves the firmware version from the motor controller. This will return one of two values. * Either the ASCII representation of 1 or the ASCII representation of 2. * * The return from this method will be either 49 or 50. If otherwise there is an error. * * @return the firmware version of the motor controller. */ uint8_t getFirmwareVersion(); /** * Checks if the motor controller has a Data over run error * * returns true if it has a data over run error */ bool hasDataOverrunError(); /** * Checks if the motor controller has a Frame error * * returns true if it has a Frame error */ bool hasFrameError(); /** * Checks if the motor controller has a CRC error * * returns true if it has a CRC error */ bool hasCRCError(); /** * Checks if the motor controller has a Format error * * returns true if it has a Format error */ bool hasFormatError(); /** * Checks if the motor controller has a time out error * * returns true if it has a time out error */ bool hasTimeoutError(); /** * retrieves the error value from the motor controller and stores it in the * class internal workings. * * @see errorBitSet() * @see error() */ uint8_t getError(); private: void errorCall(); /** * This actually sends the data to the motor controller. * * @param message[] the message to be sent * @param length the length of the message to be sent */ void sendMessage(unsigned char message[], uint8_t length); /** * Checks if a specific bit in the error byte is set. * @param bitToCheck the bit number to check. Assume that the least significant bit is bit 1. * @return true if the bit is set. */ bool errorBitSet(uint8_t bitToCheck); /** * retrieves the error value from the motor controller and stores it in the * class internal workings. * * @see errorBitSet() * @see error() */ //uint8_t getError(); /** * sends a single byte to the motor controller * * @param byte the byte of data to send */ void sendByte(uint8_t byte); /** * Reads a byte from the motor controller. This is a blocking call. * If the motor controller is not sending anything then the program will * halt indefinitely. * * @return the byte from the motor controller. * @bug There is a suspected bug in this method. */ uint8_t readByte(); Serial serialConnection; /**< Serial connection to the motor controller */ DigitalOut resetPin; /**< The digital output on the controller which is connected to the motor controllers reset pin. */ InterruptIn errorPin; /**< The digital output on the controller which is connected to the motor controllers error pin. This must be an interrrupt pin on the controller */ uint8_t errByte; /**< A temporary store for the error code received from the motor controller. */ uint8_t firmwareVersion; /**< The motor controller firmware version */ bool enableCRC; /**< this value will be true if CRCs are expected by the motor controller. */ CRC7 CRC; /**< The CRC object used to generate the CRC checksums */ }; #endif /* POLOLUQIK2_H_ */