md.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2014-2016 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 <string>

#include <md.h>

namespace upm {
    class MD {

    public:
        MD(int bus=MD_I2C_BUS, uint8_t address=MD_DEFAULT_I2C_ADDR);

        ~MD();

        bool writePacket(MD_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(MD_DC_DIRECTION_T dirA, MD_DC_DIRECTION_T dirB);

        bool enableStepper(MD_STEP_DIRECTION_T dir, uint8_t speed);

        bool disableStepper();

        bool setStepperSteps(unsigned int steps);

        void configStepper(unsigned int stepsPerRev,
                           MD_STEP_MODE_T mode=MD_STEP_MODE1);

    protected:
        md_context m_md;
    };
}