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+#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