Diff: Communication/RS485/ActuatorHub/ActuatorHub.h

Revision:

0:669ef71cba68

Child:

11:028a150943b5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/RS485/ActuatorHub/ActuatorHub.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,104 @@
+#ifndef ACTUATORHUB_H_
+#define ACTUATORHUB_H_
+
+#include "../../../CommonLibraries/RingBuffer/RingBuffer.h"
+
+extern RINGBUFFER::RingBuffer RS485SendBuffer;
+extern RINGBUFFER::RingBuffer BluetoothSendBuffer;
+
+namespace ACTUATORHUB {
+    #define MOTOR_ADDR      'M'
+    #define MOTOR2_ADDR     'N'
+    #define MOTOR3_ADDR     'O'
+    #define SOLENOID_ADDR   'S'
+    #define BLUETOOTH_ADDR  'B'
+
+    namespace MOTOR {
+        #define FREE    0
+        #define BACK    1
+        #define FOR     2
+        #define BRAKE   3
+
+        typedef struct {
+            uint8_t dir;
+            uint8_t pwm;
+        }MotorStatus;
+
+        typedef union {
+            struct {
+                int data3 : 2;
+                int data2 : 2;
+                int data1 : 2;
+                int data0 : 2;
+            };
+            uint8_t all;
+        }MotorDirectionData;
+
+        typedef struct {
+            MotorDirectionData direction0to3;
+            MotorDirectionData direction4to7;
+            MotorDirectionData direction8to9;
+
+            uint8_t pwm0;
+            uint8_t pwm1;
+            uint8_t pwm2;
+            uint8_t pwm3;
+            uint8_t pwm4;
+            uint8_t pwm5;
+            uint8_t pwm6;
+            uint8_t pwm7;
+            uint8_t pwm8;
+            uint8_t pwm9;
+            uint8_t pwm10;
+            uint8_t pwm11;
+            uint8_t pwm12;
+        }AllMotorData;
+
+        class Motor {
+            public:
+            static void Initialize();
+            static void Update(MotorStatus *status);
+            static void SetDefault();
+        };
+    }
+
+    namespace SOLENOID {
+        #define SOLENOID_ON     1
+        #define SOLENOID_OFF    0
+
+        #define ALL_SOLENOID_ON     0xffff
+        #define ALL_SOLENOID_OFF    0
+
+        typedef union {
+            struct {
+                int : 4;
+                int solenoid11 : 1;
+                int solenoid10 : 1;
+                int solenoid9 : 1;
+                int solenoid8 : 1;
+                int solenoid7 : 1;
+                int solenoid6 : 1;
+                int solenoid5 : 1;
+                int solenoid4 : 1;
+                int solenoid3 : 1;
+                int solenoid2 : 1;
+                int solenoid1 : 1;
+                int solenoid0 : 1;
+            };
+            uint16_t all;
+        }SolenoidStatus;
+
+        class Solenoid {
+            public:
+            static void Initialize();
+            static void Update(SolenoidStatus status);
+        };
+    }
+
+    class ActuatorHub {
+        public:
+        static void Update();
+    };
+}
+
+#endif