API for the Grove I2C Motor Driver. More...

Detailed Description

ID: grovemd
Name: Grove I2C Motor Driver
Category: motor
Manufacturer: seeed
Connection: i2c
Kit: robok

This class implements support for the Grove I2C Motor Driver. This device can support a single 4-wire stepper motor, or two 2-wire DC motors. The device contains an Atmel* ATmega8L microcontroller that manages an L298N H-bridge driver chip.

This device supports an I2C bus speed of 100Khz only.

The module does not provide any telemetry or status - it only accepts I2C commands for its various operations.

This module was tested with version 1.3 of the Grove I2C Motor Driver.

For stepper operation, this driver can run in one of two modes - Mode 1, where this driver handles the stepping operation, and Mode 2, where this driver simply sends commands to the Grove Motor Driver, and it handles the stepping operation. Mode2 requires updated (and working) firmware to be loaded onto the device.

The default stepper operation mode is Mode1, which is generally more flexible and is supported on all firmware revisions.

An example showing the use of a DC motor

  // Instantiate an I2C Grove Motor Driver on I2C bus 0
  upm::GroveMD *motors = new upm::GroveMD(GROVEMD_I2C_BUS, 
                                          GROVEMD_DEFAULT_I2C_ADDR);
  // set direction to CW and set speed to 50%
  cout << "Spin M1 and M2 at half speed for 3 seconds" << endl;
  motors->setMotorDirections(upm::GroveMD::DIR_CW, upm::GroveMD::DIR_CW);
  motors->setMotorSpeeds(127, 127);
  
  sleep(3);
  // counter clockwise
  cout << "Reversing M1 and M2 for 3 seconds" << endl;
  motors->setMotorDirections(upm::GroveMD::DIR_CCW, upm::GroveMD::DIR_CCW);
  sleep(3);

An example showing the use of a 4-wire stepper

  // Instantiate an I2C Grove Motor Driver on I2C bus 0
  upm::GroveMD *motors = new upm::GroveMD(GROVEMD_I2C_BUS, 
                                          GROVEMD_DEFAULT_I2C_ADDR);
  // This example demonstrates using the GroveMD to drive a stepper motor
  
  // configure it, for this example, we'll assume 200 steps per rev
  motors->configStepper(200);
  // set for half a rotation
  motors->setStepperSteps(100);
  // let it go - clockwise rotation, 10 RPM speed
  motors->enableStepper(upm::GroveMD::STEP_DIR_CW, 10);
  sleep(3);
  // Now do it backwards...
  motors->setStepperSteps(100);
  motors->enableStepper(upm::GroveMD::STEP_DIR_CCW, 10);
  // now disable
  motors->disableStepper();

Public Types
enum	REG_T { SET_SPEED = 0x82, SET_PWM_FREQ = 0x84, SET_DIRECTION = 0xaa, SET_MOTOR_A = 0xa1, SET_MOTOR_B = 0xa5, STEPPER_ENABLE = 0x1a, STEPPER_DISABLE = 0x1b, STEPPER_NUM_STEPS = 0x1c }

enum	STEP_DIRECTION_T { STEP_DIR_CCW = 0x01, STEP_DIR_CW = 0x00 }

enum	DC_DIRECTION_T { DIR_CCW = 0x02, DIR_CW = 0x01 }

enum	STEP_MODE_T { STEP_MODE1 = 0x00, STEP_MODE2 = 0x01 }

Public Member Functions
	GroveMD (int bus=GROVEMD_I2C_BUS, uint8_t address=GROVEMD_DEFAULT_I2C_ADDR)

	~GroveMD ()

bool	writePacket (REG_T reg, uint8_t data1, uint8_t data2)

bool	setMotorSpeeds (uint8_t speedA, uint8_t speedB)

bool	setPWMFrequencyPrescale (uint8_t freq=0x03)

bool	setMotorDirections (DC_DIRECTION_T dirA, DC_DIRECTION_T dirB)

bool	enableStepper (STEP_DIRECTION_T dir, uint8_t speed)

bool	disableStepper ()

bool	setStepperSteps (unsigned int steps)

void	configStepper (unsigned int stepsPerRev, STEP_MODE_T mode=STEP_MODE1)

Protected Attributes
mraa::I2c	m_i2c

uint8_t	m_addr

Constructor & Destructor Documentation

GroveMD	(	int	bus = `GROVEMD_I2C_BUS`,
		uint8_t	address = `GROVEMD_DEFAULT_I2C_ADDR`
	)

GroveMD constructor

Parameters

bus	I2C bus to use
address	I2C address to use

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~GroveMD ( )

GroveMD destructor

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Member Function Documentation

bool writePacket	(	REG_T	reg,
		uint8_t	data1,
		uint8_t	data2
	)

Composes and writes a 3-byte packet to the controller

Parameters

reg	Register location
data1	First byte of data
data2	Second byte of data

Returns: True if successful

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bool setMotorSpeeds	(	uint8_t	speedA,
		uint8_t	speedB
	)

To control DC motors, sets the speed of motors A & B. Valid values are 0-255.

Parameters

speedA	Speed of motor A
speedB	Speed of motor B

Returns: True if successful

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bool setPWMFrequencyPrescale ( uint8_t freq = 0x03 )

To control DC motors, sets the PWM frequency prescale factor. Note: this register is not ducumented other than to say the default value is 0x03. Presumably, this is the timer prescale factor used on the ATMega MCU timer driving the PWM.

Parameters

freq	PWM prescale frequency; default is 0x03

Returns: True if successful

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bool setMotorDirections	(	DC_DIRECTION_T	dirA,
		DC_DIRECTION_T	dirB
	)

To control DC motors, sets the directions of motors A & B

Parameters

dirA	Direction for motor A, DIR_CW or DIR_CCW
dirB	Direction for motor B, DIR_CW or DIR_CCW

Returns: True if successful

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bool enableStepper	(	STEP_DIRECTION_T	dir,
		uint8_t	speed
	)

To control a stepper motor, sets its direction and speed, and then starts operation. For Mode2, this method will return immediately. For Mode1 (the default) this method returns when the number of steps specified by setStepperSteps() has completed.

Parameters

dir	Direction, STEP_DIR_CW or STEP_DIR_CCW
speed	Motor speed. Valid range is 1-255. For Mode 1 (default), this specifies the speed in RPM's. For Mode 2, speed is multiplied by 4ms by the board, so higher numbers will mean a slower speed.

Returns: True if successful

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bool disableStepper ( )

To control a stepper motor, stops the stepper motor.

Returns: True if successful

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bool setStepperSteps ( unsigned int steps )

To control a stepper motor, specifies the number of steps to execute. For Mode2, valid values are between 1-255, 255 means continuous rotation.

For Mode1 (the default) steps can be any positive integer.

Parameters

steps Number of steps to execute. 255 (only in Mode2) means continuous rotation.

Returns: True if successful

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void configStepper	(	unsigned int	stepsPerRev,
		STEP_MODE_T	mode = `STEP_MODE1`
	)

Configure the initial Stepper parameters. This should be called before any other stepper method.

Parameters

stepsPerRev	The number of steps required to complete one full revolution.
mode	The stepper operating mode, default STEP_MODE1

Returns: Elapsed milliseconds

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

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

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation