C++ API for the ADAFRUITMS1438 motor shield. More...

Detailed Description

ID: adafruitms1438
Name: Adafruit Motor Shield
Category: motor
Manufacturer: adafruit
Link: http://www.adafruit.com/products/1438
Connection: i2c

This class implements support for the stepper and DC motors that can be connected to this Motor Shield. NOTE: The two servo connections are not actually controlled by the pca9685 controller (or this class), rather they are connected directly to digital PWM pins 9 and 10 on the arduino breakout.

An example using a DC motor conected to M3

  // Instantiate an Adafruit MS 1438 on I2C bus 0
  upm::AdafruitMS1438 *ms = 
    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
  // Setup for use with a DC motor connected to the M3 port
  // set a PWM period of 50Hz
  ms->setPWMPeriod(50);
  // disable first, to be safe
  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
  // set speed at 50%
  ms->setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
  cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds."
       << endl;
  ms->enableMotor(AdafruitMS1438::MOTOR_M3);
  sleep(3);
  cout << "Reversing M3" << endl;
  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
  sleep(3);
  cout << "Stopping M3" << endl;
  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
  cout << "Exiting" << endl;

An example using a stepper motor connected to M1 & M2

  // Instantiate an Adafruit MS 1438 on I2C bus 0
  upm::AdafruitMS1438 *ms = 
    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
  // Setup for use with a stepper motor connected to the M1 & M2 ports
  // set a PWM period of 50Hz
  // disable first, to be safe
  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
  // configure for a NEMA-17, 200 steps per revolution
  ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
  // set speed at 10 RPM's
  ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
                          AdafruitMS1438::DIR_CW);
  // enable
  cout << "Enabling..." << endl;
  ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12);
  cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
  cout << "Sleeping for 2 seconds..." << endl;
  sleep(2);
  cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 
       << endl;
  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
                          AdafruitMS1438::DIR_CCW);
  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
  cout << "Disabling..." << endl;
  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
  cout << "Exiting" << endl;

Public Types
enum	DIRECTION_T { DIR_NONE = 0x00, DIR_CW = 0x01, DIR_CCW = 0x02 }

enum	DCMOTORS_T { MOTOR_M1 = 0, MOTOR_M2 = 1, MOTOR_M3 = 2, MOTOR_M4 = 3 }

enum	STEPMOTORS_T { STEPMOTOR_M12 = 0, STEPMOTOR_M34 = 1 }

Public Member Functions
	AdafruitMS1438 (int bus, uint8_t address=ADAFRUITMS1438_DEFAULT_I2C_ADDR)

	~AdafruitMS1438 ()

uint32_t	getMillis (STEPMOTORS_T motor)

void	initClock (STEPMOTORS_T motor)

void	setPWMPeriod (float hz)

void	enableMotor (DCMOTORS_T motor)

void	disableMotor (DCMOTORS_T motor)

void	enableStepper (STEPMOTORS_T motor)

void	disableStepper (STEPMOTORS_T motor)

void	setMotorSpeed (DCMOTORS_T motor, int speed)

void	setStepperSpeed (STEPMOTORS_T motor, int speed)

void	setMotorDirection (DCMOTORS_T motor, DIRECTION_T dir)

void	setStepperDirection (STEPMOTORS_T motor, DIRECTION_T dir)

void	stepConfig (STEPMOTORS_T motor, unsigned int stepsPerRev)

void	stepperSteps (STEPMOTORS_T motor, unsigned int steps)

Constructor & Destructor Documentation

AdafruitMS1438	(	int	bus,
		uint8_t	address = `ADAFRUITMS1438_DEFAULT_I2C_ADDR`
	)

AdafruitMS1438 constructor

Parameters

bus	i2c bus to use
address	the address for this sensor

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~AdafruitMS1438 ( )

AdafruitMS1438 Destructor

Member Function Documentation

uint32_t getMillis ( STEPMOTORS_T motor )

Return the number of milliseconds elapsed since initClock(...) was last called.

Returns: elapsed milliseconds

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void initClock ( STEPMOTORS_T motor )

Reset the Clock

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void setPWMPeriod ( float hz )

Set the PWM period. Note this applies to all PWM channels.

Parameters

hz	set the PWM period

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void enableMotor ( DCMOTORS_T motor )

enable PWM output for a motor

Parameters

motor the DC motor to enable

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void disableMotor ( DCMOTORS_T motor )

disable PWM output for a motor

Parameters

motor the DC motor to disable

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void enableStepper ( STEPMOTORS_T motor )

enable output for a stepper motor

Parameters

motor the stepper motor to enable

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void disableStepper ( STEPMOTORS_T motor )

disable output for a stepper motor

Parameters

motor the stepper motor to disable

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void setMotorSpeed	(	DCMOTORS_T	motor,
		int	speed
	)

set the speed of a DC motor. Values can range from 0 (off) to 100 (full speed).

Parameters

motor	the DC motor to configure
speed	speed to set the motor to

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void setStepperSpeed	(	STEPMOTORS_T	motor,
		int	speed
	)

set the speed of a stepper in revolution per minute (RPM)

Parameters

motor	the DC motor to configure
speed	speed to set the motor to

void setMotorDirection	(	DCMOTORS_T	motor,
		DIRECTION_T	dir
	)

set the direction of a DC motor, clockwise or counter clockwise

Parameters

motor	the DC motor to configure
dir	direction to set the motor to

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void setStepperDirection	(	STEPMOTORS_T	motor,
		DIRECTION_T	dir
	)

set the direction of a stepper motor, clockwise or counter clockwise

Parameters

motor	the stepper motor to configure
dir	direction to set the motor to

void stepConfig	(	STEPMOTORS_T	motor,
		unsigned int	stepsPerRev
	)

set a stepper motor configuration

Parameters

motor	the stepper motor to configure
stepsPerRev	the number of step to complete a full revolution

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void stepperSteps	(	STEPMOTORS_T	motor,
		unsigned int	steps
	)

step a stepper motor a specified number of steps

Parameters

motor	the stepper motor to step
steps	number of steps to move the stepper motor

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The documentation for this class was generated from the following files:

/var/lib/jenkins/workspace/upm-doc-stable/src/adafruitms1438/adafruitms1438.h
/var/lib/jenkins/workspace/upm-doc-stable/src/adafruitms1438/adafruitms1438.cxx

Detailed Description

Public Types

Public Member Functions

Constructor & Destructor Documentation

Member Function Documentation