Completed GoPiGo3 C++ API support for 6 and 16 tick motors. Two new C++ examples.

Software/C/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0)
 project(gopigo3_cpp)
 
 ### Build
@@ -38,6 +38,14 @@ target_link_libraries(sensors gopigo3)
 add_executable(drive Examples/drive.cpp)
 target_link_libraries(drive gopigo3)
 
+# servo example
+add_executable(servos Examples/servos.cpp)
+target_link_libraries(servos gopigo3)
+
+# vbatt example
+add_executable(vbatt Examples/vbatt.cpp)
+target_link_libraries(vbatt gopigo3)
+
 ### Installation
 
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/

Software/C/Examples/drive.cpp

@@ -62,10 +62,9 @@ int main(){
 
 	GPG.reset_motor_encoder(MOTOR_LEFT + MOTOR_RIGHT);
 
-	// GPG.set_motor_limits(MOTOR_LEFT,0,300);
-	// GPG.set_motor_limits(MOTOR_RIGHT,0,300);
-	GPG.set_motor_limits(MOTOR_LEFT,0,0);
-	GPG.set_motor_limits(MOTOR_RIGHT,0,0);
+        // set limits to safe value that will not allow GoPiGo3 to tip over
+	GPG.set_motor_limits(MOTOR_LEFT,0,150);
+	GPG.set_motor_limits(MOTOR_RIGHT,0,150);
 
 	do{
 
@@ -83,6 +82,7 @@ int main(){
 		switch(c){
 			case 'w':  // forward
 				GPG.set_motor_dps(MOTOR_LEFT + MOTOR_RIGHT, NO_LIMIT_SPEED);
+                                // GPG.set_motor_power(MOTOR_LEFT + MOTOR_RIGHT, 10);
 				break;
 			case 'x' :    // backward
 				GPG.set_motor_dps(MOTOR_LEFT + MOTOR_RIGHT, NO_LIMIT_SPEED * -1);

Software/C/Examples/servos.cpp

@@ -0,0 +1,54 @@
+/*
+ *  https://www.dexterindustries.com/GoPiGo3/
+ *  https://github.com/DexterInd/GoPiGo3
+ *
+ *  Copyright (c) 2017 Dexter Industries
+ *  Released under the MIT license (http://choosealicense.com/licenses/mit/).
+ *  For more information see https://github.com/DexterInd/GoPiGo3/blob/master/LICENSE.md
+ *
+ *  This code is an example for using GoPiGo3 servos.
+ *
+ *  Results:  When you run this program, you should see the servos center.
+ *
+ *  To compile see: https://github.com/slowrunner/Carl/blob/master/Examples/cpp/Alan_Note.txt
+ */
+
+#include <GoPiGo3.h>   // for GoPiGo3
+#include <stdio.h>     // for printf
+#include <unistd.h>    // for usleep
+#include <signal.h>    // for catching exit signals
+
+GoPiGo3 GPG;
+
+void exit_signal_handler(int signo);
+
+int main(){
+  signal(SIGINT, exit_signal_handler); // register the exit function for Ctrl+C
+
+  GPG.detect(); // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
+
+  printf("\nReseting servos to center\n");
+
+  // Reset the servos to center
+  GPG.set_servo(SERVO_1,1500);
+  // let one servo move at a time to keep load smaller
+  usleep(200000);
+  GPG.set_servo(SERVO_2,1500);
+  usleep(200000);
+  // Turn servo power off
+  GPG.set_servo(SERVO_1,0);
+  GPG.set_servo(SERVO_2,0);
+
+  // while(true){
+  //   usleep(2000);
+  // }
+  GPG.reset_all();
+}
+
+// Signal handler that will be called when Ctrl+C is pressed to stop the program
+void exit_signal_handler(int signo){
+  if(signo == SIGINT){
+    GPG.reset_all();    // Reset everything so there are no run-away motors
+    exit(-2);
+  }
+}

Software/C/Examples/vbatt.cpp

@@ -0,0 +1,23 @@
+/*
+ *  This code is an example for reading GoPiGo3 battery voltage
+ *
+ *  Results: Prints float battery voltage
+ *
+ */
+
+#include <GoPiGo3.h>   // for GoPiGo3
+#include <stdio.h>     // for printf
+
+GoPiGo3 GPG; // Create a GoPiGo3 instance
+
+int main(){
+
+  // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
+  // pass 'false' to detect() to make the error non-critical (return the error instead of exiting the program).
+  if(GPG.detect(false) == ERROR_NONE){
+    printf("  Battery voltage : %.3f\n", GPG.get_voltage_battery());
+    printf("  5v voltage      : %.3f\n", GPG.get_voltage_5v());
+  }else{
+    printf("\nError communicating with GoPiGo3\n");
+  }
+}

Software/C/GoPiGo3.cpp

@@ -443,6 +443,7 @@ int GoPiGo3::set_motor_position(uint8_t port, int32_t position){
   spi_array_out[0] = Address;
   spi_array_out[1] = GPGSPI_MESSAGE_SET_MOTOR_POSITION;
   spi_array_out[2] = port;
+  position = (int) (position * MOTOR_TICKS_PER_DEGREE);
   spi_array_out[3] = ((position >> 24) & 0xFF);
   spi_array_out[4] = ((position >> 16) & 0xFF);
   spi_array_out[5] = ((position >> 8) & 0xFF);
@@ -454,6 +455,7 @@ int GoPiGo3::set_motor_dps(uint8_t port, int16_t dps){
   spi_array_out[0] = Address;
   spi_array_out[1] = GPGSPI_MESSAGE_SET_MOTOR_DPS;
   spi_array_out[2] = port;
+  dps = (int)(dps * MOTOR_TICKS_PER_DEGREE);
   spi_array_out[3] = ((dps >> 8) & 0xFF);
   spi_array_out[4] = (dps & 0xFF);
   return spi_transfer_array(5, spi_array_out, spi_array_in);
@@ -464,6 +466,7 @@ int GoPiGo3::set_motor_limits(uint8_t port, uint8_t power, uint16_t dps){
   spi_array_out[1] = GPGSPI_MESSAGE_SET_MOTOR_LIMITS;
   spi_array_out[2] = port;
   spi_array_out[3] = power;
+  dps = (int)(dps * MOTOR_TICKS_PER_DEGREE);
   spi_array_out[4] = ((dps >> 8) & 0xFF);
   spi_array_out[5] = (dps & 0xFF);
   return spi_transfer_array(6, spi_array_out, spi_array_in);
@@ -495,15 +498,17 @@ int GoPiGo3::get_motor_status(uint8_t port, uint8_t &state, int8_t &power, int32
   state    = spi_array_in[4];
   power    = spi_array_in[5];
   position = ((spi_array_in[6] << 24) | (spi_array_in[7] << 16) | (spi_array_in[8] << 8) | spi_array_in[9]);
+  position = (int)(position / MOTOR_TICKS_PER_DEGREE);
   dps      = ((spi_array_in[10] << 8) | spi_array_in[11]);
-
+  dps      = (int)(dps / MOTOR_TICKS_PER_DEGREE);
   return ERROR_NONE;
 }
 
 int GoPiGo3::offset_motor_encoder(uint8_t port, int32_t position){
   spi_array_out[0] = Address;
   spi_array_out[1] = GPGSPI_MESSAGE_OFFSET_MOTOR_ENCODER;
   spi_array_out[2] = port;
+  position = (int)(position * MOTOR_TICKS_PER_DEGREE);
   spi_array_out[3] = ((position >> 24) & 0xFF);
   spi_array_out[4] = ((position >> 16) & 0xFF);
   spi_array_out[5] = ((position >> 8) & 0xFF);
@@ -513,7 +518,7 @@ int GoPiGo3::offset_motor_encoder(uint8_t port, int32_t position){
 
 int32_t GoPiGo3::get_motor_encoder(uint8_t port){
   int32_t value;
-  get_motor_encoder(port, value);
+  get_motor_encoder(port, value);  // value returned is corrected for MOTOR_TICKS_PER_DEGREE
   return value;
 }
 
@@ -542,7 +547,7 @@ int GoPiGo3::get_motor_encoder(uint8_t port, int32_t &value){
   }
   uint32_t Value;
   int res = spi_read_32(msg_type, Value);
-  value = Value;
+  value = (int)(Value / MOTOR_TICKS_PER_DEGREE);
   return res;
 }
 

Software/C/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>gopigo3_cpp</name>
-  <version>0.0.1</version>
+  <version>0.0.2</version>
   <description>C++ driver for GoPiGo3</description>
 
   <maintainer email="support@modrobotics.com">Modular Robotics</maintainer>