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Diffstat (limited to 'peripheral/libupm/src/l298/l298.h')
| -rw-r--r-- | peripheral/libupm/src/l298/l298.h | 194 |
1 files changed, 194 insertions, 0 deletions
diff --git a/peripheral/libupm/src/l298/l298.h b/peripheral/libupm/src/l298/l298.h new file mode 100644 index 0000000..985a07c --- /dev/null +++ b/peripheral/libupm/src/l298/l298.h @@ -0,0 +1,194 @@ +/* + * 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; + }; +} + + |