diff options
Diffstat (limited to 'peripheral/libupm/src/l298/l298.h')
| -rw-r--r-- | peripheral/libupm/src/l298/l298.h | 194 |
1 files changed, 0 insertions, 194 deletions
diff --git a/peripheral/libupm/src/l298/l298.h b/peripheral/libupm/src/l298/l298.h deleted file mode 100644 index 985a07c..0000000 --- a/peripheral/libupm/src/l298/l298.h +++ /dev/null @@ -1,194 +0,0 @@ -/* - * Author: Jon Trulson <jtrulson@ics.com> - * Copyright (c) 2015 Intel Corporation. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be - * included in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE - * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION - * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION - * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - */ -#pragma once - -#include <stdint.h> -#include <sys/time.h> - -#include <mraa/gpio.h> -#include <mraa/pwm.h> - -// in milliseconds -#define L298_DEFAULT_PWM_PERIOD 4 - -namespace upm { - /** - * @brief L298 Dual H-Bridge Motor Driver library - * @defgroup l298 libupm-l298 - * @ingroup seeed sparkfun gpio pwm motor - */ - - /** - * @library l298 - * @sensor l298 - * @comname L298 Dual H-Bridge Motor Driver - * @type motor - * @man seeed sparkfun - * @web https://www.sparkfun.com/products/9670 - * @con gpio pwm - * - * @brief API for the L298 Dual H-Bridge Motor Driver - * - * It was developed using the RobotBase Dual H-Bridge module. - * - * This module can support 2 DC motors, or one 2-phase stepper motor. - * It requires 3 pins per DC motor (or H-bridge), or 4 pins for - * the stepper motor (uses both H-bridges). - * - * @image html l298.jpg - * <br><em>L298 Dual H-Bridge Motor Driver image provided by SparkFun* under - * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/> - * CC BY-NC-SA-3.0</a>.</em> - * - * Example driving a DC motor - * @snippet l298.cxx Interesting - * Example driving a stepper motor - * @snippet l298-stepper.cxx Interesting - */ - class L298 { - public: - - /** - * Enum to specify the direction of a motor - */ - typedef enum { - DIR_NONE = 0x00, - DIR_CW = 0x01, - DIR_CCW = 0x02 - } L298_DIRECTION_T; - - /** - * L298 constructor for DC motor(s) connected. - * - * @param pwm Digital pin to use for a DC motor - must be PWM-capable - * @param dir1 Digital pin to use for motor direction pin 1 - * @param dir2 Digital pin to use for motor direction pin 2 - */ - L298(int pwm, int dir1, int dir2); - - /** - * L298 constructor for a 4-wire stepper motor - * - * @param stepsPerRev Number of steps per full revolution - * @param en Enables the pin - * @param i1 Digital pin to use for stepper input 1 - * @param i2 Digital pin to use for stepper input 2 - * @param i3 Digital pin to use for stepper input 3 - * @param i4 Digital pin to use for stepper input 4 - */ - L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4); - - /** - * L298 destructor - */ - ~L298(); - - /** - * Returns the number of milliseconds elapsed since initClock() - * was last called. - * - * @return Elapsed milliseconds - */ - uint32_t getMillis(); - - /** - * Resets the clock - * - */ - void initClock(); - - /** - * Sets the period in milliseconds - * - * @param ms Period in milliseconds - */ - void setPeriodMS(int ms); - - /** - * Enables the PWM output for a motor - * - * @param enable Enables the PWM output if true, disables if false - */ - void enable(bool enable); - - /** - * Sets the speed of a DC or stepper motor. For a DC motor, values - * can range from 0 (off) to 100 (full speed). For a stepper - * motor, specify the desired RPM. - * - * @param speed Speed to set the motor to - */ - void setSpeed(int speed); - - /** - * Sets the direction of the motor, clockwise or counterclockwise - * - * @param dir Direction to set the motor to - */ - void setDirection(L298_DIRECTION_T dir); - - /** - * Steps the stepper motor a specified number of steps - * - * @param steps Number of steps to move the stepper motor - */ - void stepperSteps(unsigned int steps); - - private: - // DC motor mode enabled - bool m_motor; - // stepper mode enabled - bool m_stepper; - - struct timeval m_startTime; - - // DC motor - mraa_pwm_context m_pwm; - mraa_gpio_context m_dir1; - mraa_gpio_context m_dir2; - - // stepper (4-wire) - mraa_gpio_context m_stepEnable; - mraa_gpio_context m_stepI1; - mraa_gpio_context m_stepI2; - mraa_gpio_context m_stepI3; - mraa_gpio_context m_stepI4; - - // steps per revolution - int m_stepsPerRev; - int m_currentStep; - uint32_t m_stepDelay; - - /** - * Steps the motor one tick - * - */ - void stepperStep(); - - // step direction: - 1 = forward, -1 = backward - int m_stepDirection; - }; -} - - |