upm  1.6.0
Sensor/Actuator repository for libmraa (v1.9.0)
md.hpp
1 /*
2  * Author: Jon Trulson <jtrulson@ics.com>
3  * Copyright (c) 2014-2016 Intel Corporation.
4  *
5  * Permission is hereby granted, free of charge, to any person obtaining
6  * a copy of this software and associated documentation files (the
7  * "Software"), to deal in the Software without restriction, including
8  * without limitation the rights to use, copy, modify, merge, publish,
9  * distribute, sublicense, and/or sell copies of the Software, and to
10  * permit persons to whom the Software is furnished to do so, subject to
11  * the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 #pragma once
25 
26 #include <string>
27 
28 #include <md.h>
29 
30 namespace upm {
79  class MD {
80 
81  public:
88  MD(int bus=MD_I2C_BUS, uint8_t address=MD_DEFAULT_I2C_ADDR);
89 
93  ~MD();
94 
103  bool writePacket(MD_REG_T reg, uint8_t data1, uint8_t data2);
104 
113  bool setMotorSpeeds(uint8_t speedA, uint8_t speedB);
114 
124  bool setPWMFrequencyPrescale(uint8_t freq=0x03);
125 
133  bool setMotorDirections(MD_DC_DIRECTION_T dirA, MD_DC_DIRECTION_T dirB);
134 
149  bool enableStepper(MD_STEP_DIRECTION_T dir, uint8_t speed);
150 
156  bool disableStepper();
157 
169  bool setStepperSteps(unsigned int steps);
170 
180  void configStepper(unsigned int stepsPerRev,
181  MD_STEP_MODE_T mode=MD_STEP_MODE1);
182 
183  protected:
184  md_context m_md;
185 
186  private:
187  /* Disable implicit copy and assignment operators */
188  MD(const MD&) = delete;
189  MD &operator=(const MD&) = delete;
190  };
191 }
192 
193 
bool disableStepper()
Definition: md.cxx:90
void configStepper(unsigned int stepsPerRev, MD_STEP_MODE_T mode=MD_STEP_MODE1)
Definition: md.cxx:100
bool enableStepper(MD_STEP_DIRECTION_T dir, uint8_t speed)
Definition: md.cxx:85
MD(int bus=MD_I2C_BUS, uint8_t address=MD_DEFAULT_I2C_ADDR)
Definition: md.cxx:36
API for the I2C Motor Driver.
Definition: md.hpp:79
Definition: md.h:46
bool setMotorSpeeds(uint8_t speedA, uint8_t speedB)
Definition: md.cxx:58
C++ API for the kxtj3 driver.
Definition: a110x.hpp:29
bool setMotorDirections(MD_DC_DIRECTION_T dirA, MD_DC_DIRECTION_T dirB)
Definition: md.cxx:76
C API for the md driver.
bool setStepperSteps(unsigned int steps)
Definition: md.cxx:95
bool setPWMFrequencyPrescale(uint8_t freq=0x03)
Definition: md.cxx:67
bool writePacket(MD_REG_T reg, uint8_t data1, uint8_t data2)
Definition: md.cxx:49
~MD()
Definition: md.cxx:44