From f7f01cbf53034fb656572758c22f2f392c01290f Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 29 Mar 2013 23:29:57 +0100 Subject: digital/io-hub/src/apbirthday: add mimot & pressure sensor --- digital/io-hub/src/common-cc/mimot.hh | 91 +++++++++++++++++++++++++++++++++++ 1 file changed, 91 insertions(+) create mode 100644 digital/io-hub/src/common-cc/mimot.hh (limited to 'digital/io-hub/src/common-cc/mimot.hh') diff --git a/digital/io-hub/src/common-cc/mimot.hh b/digital/io-hub/src/common-cc/mimot.hh new file mode 100644 index 00000000..f9703dda --- /dev/null +++ b/digital/io-hub/src/common-cc/mimot.hh @@ -0,0 +1,91 @@ +#ifndef mimot_hh +#define mimot_hh +// io-hub - Modular Input/Output. {{{ +// +// Copyright (C) 2013 Nicolas Schodet +// +// APBTeam: +// Web: http://apbteam.org/ +// Email: team AT apbteam DOT org +// +// This program is free software; you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation; either version 2 of the License, or +// (at your option) any later version. +// +// This program 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 General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +// +// }}} +#include "i2c_queue.hh" +#include "motor.hh" + +/// Interface to mimot board. +class Mimot : public I2cQueue::Slave +{ + public: + static const int aux_nb = 2; + public: + /// Constructor. + Mimot (I2cQueue &queue); + /// See I2cQueue::Slave::recv_status. + void recv_status (const uint8_t *status); + public: + /// Mimot single output. + class Motor + { + public: + /// Maximum positive value for PWM. + static const int16_t pwm_max = 0x3ff; + public: + /// Contructor. + Motor (Mimot &mimot, int index) : mimot_ (mimot), index_ (index) { } + /// Get last command status. + ::Motor::Status get_status () const; + /// Get current shaft position. + uint16_t get_position () const; + /// Move to absolute position at given speed. + void move (uint16_t position, uint16_t speed); + /// Set motor to free running, no torque. + void free (); + /// Set raw output. + void output_set (int16_t pwm); + private: + Mimot &mimot_; + int index_; + uint16_t position_; + friend class Mimot; + }; + friend class Motor; + /// Motors public access. + Motor motor0, motor1; + private: + uint8_t status_flag_; + uint8_t input_port_; +}; + +inline Motor::Status +Mimot::Motor::get_status () const +{ + uint8_t status = mimot_.status_flag_ >> (index_ * 2); + if (status & 1) + return ::Motor::SUCCESS; + else if (status & 2) + return ::Motor::FAILURE; + else + return ::Motor::RUNNING; +} + +inline uint16_t +Mimot::Motor::get_position () const +{ + return position_; +} + +#endif // mimot_hh -- cgit v1.2.3