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/*
* 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;
};
}
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