// 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 "mimot.hh" #include "ucoolib/utils/bytes.hh" Mimot::Mimot (I2cQueue &queue) : I2cQueue::Slave (queue, 0x06, 6), motor0 (*this, 0), motor1 (*this, 1), status_flag_ (0), input_port_ (0) { } void Mimot::recv_status (const uint8_t *status) { status_flag_ = status[0]; input_port_ = status[1]; motor0.position_ = ucoo::bytes_pack (status[2], status[3]); motor1.position_ = ucoo::bytes_pack (status[4], status[5]); } void Mimot::Motor::move (uint16_t position, uint16_t speed) { uint8_t buf[] = { (char) ('b' + index_), ucoo::bytes_unpack (position, 1), ucoo::bytes_unpack (position, 0), ucoo::bytes_unpack (speed, 1), ucoo::bytes_unpack (speed, 0), }; mimot_.send (buf, sizeof (buf)); } void Mimot::Motor::free () { uint8_t buf[] = { 'w', (uint8_t) index_, 0, // brake }; mimot_.send (buf, sizeof (buf)); } void Mimot::Motor::output_set (int16_t pwm) { uint8_t buf[] = { 'W', (uint8_t) index_, ucoo::bytes_unpack (pwm, 1), ucoo::bytes_unpack (pwm, 0), }; mimot_.send (buf, sizeof (buf)); }