AdafruitMS1438 Class Reference

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 controlled by the PCA9685 controller (or this class). They are connected directly to digital PWM pins 9 and 10 on the Arduino* breakout board.

An example using a DC motor connected 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)

Member Enumeration Documentation

enum DIRECTION_T

Enum to specify the direction of a motor

enum DCMOTORS_T

Enum to specify a DC motor

enum STEPMOTORS_T

Enum to specify a stepper motor

Constructor & Destructor Documentation

AdafruitMS1438	(	int	bus,
		uint8_t	address = ADAFRUITMS1438_DEFAULT_I2C_ADDR
	)

AdafruitMS1438 constructor

Parameters

bus	I2C bus to use
address	Address for this sensor

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~AdafruitMS1438

(

)

AdafruitMS1438 destructor

Member Function Documentation

uint32_t getMillis

(

STEPMOTORS_T

motor

)

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

Returns

Elapsed milliseconds

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void initClock

(

STEPMOTORS_T

motor

)

Resets the clock

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void setPWMPeriod

(

float

hz

)

Sets the PWM period. Note: this applies to all PWM channels.

Parameters

hz	Sets the PWM period

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void enableMotor

(

DCMOTORS_T

motor

)

Enables PWM output for a motor

Parameters

motor

DC motor to enable

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void disableMotor

(

DCMOTORS_T

motor

)

Disables PWM output for a motor

Parameters

motor

DC motor to disable

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void enableStepper

(

STEPMOTORS_T

motor

)

Enables output for a stepper motor

Parameters

motor

Stepper motor to enable

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void disableStepper

(

STEPMOTORS_T

motor

)

Disable output for a stepper motor

Parameters

motor

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
	)

Sets the speed of a stepper in revolutions per minute (RPM)

Parameters

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

void setMotorDirection	(	DCMOTORS_T	motor,
		DIRECTION_T	dir
	)

Sets the direction of a DC motor, clockwise or counterclockwise

Parameters

motor	DC motor to configure
dir	Direction to set the motor in

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void setStepperDirection	(	STEPMOTORS_T	motor,
		DIRECTION_T	dir
	)

Sets the direction of a stepper motor, clockwise or counterclockwise

Parameters

motor	Stepper motor to configure
dir	Direction to set the motor in

void stepConfig	(	STEPMOTORS_T	motor,
		unsigned int	stepsPerRev
	)

Sets a stepper motor configuration

Parameters

motor	Stepper motor to configure
stepsPerRev	Number of steps to complete a full revolution

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void stepperSteps	(	STEPMOTORS_T	motor,
		unsigned int	steps
	)

Steps a stepper motor a specified number of steps

Parameters

motor	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:

• /iotdk/jenkins/workspace/upm-doc-stable/src/adafruitms1438/adafruitms1438.h
• /iotdk/jenkins/workspace/upm-doc-stable/src/adafruitms1438/adafruitms1438.cxx