Merge pull request #1 from allgood38/master

Working Pololu Library

PololuServo/doc.md

@@ -0,0 +1,24 @@
+To use the Pololu Micro Servo Controller library.
+
+    ```c
+    #include <pololu_servo.h>
+
+    static const int pololu_reset_pin = 3;
+    static const int MOTOR_ONE = 7;
+
+    PololuMSC* pololu;
+
+    void setup() {
+        Serial1.begin(9600);
+        pinMode(pololu_reset_pin, OUTPUT);
+        pololu = new PololuMSC(&Serial1, pololu_reset_pin);
+        pololu->restart();
+    }
+
+    void loop() {
+        pololu->setPosition(MOTOR_ONE, 250);
+        delay(500);
+        pololu->setPosition(MOTOR_ONE, 0);
+        delay(500);
+    }
+    ```

PololuServo/pololu_servo.cpp

@@ -0,0 +1,59 @@
+#include "pololu_servo.h" 
+
+PololuMSC::PololuMSC(Stream* serialIn, int reset_pin) {
+    for( int i = 0; i < this->SERVO_SLOTS; i++ ) {
+        this->available_servos[i].current_value = SERVO_DEFAULT;
+        this->available_servos[i].is_attached = false;
+    }
+
+    this->DEBUG = false;
+
+    this->serialCom = serialIn;
+    this->reset_pin = reset_pin;
+}
+
+int PololuMSC::restart() {
+    // reset the pololu
+    digitalWrite(this->reset_pin, HIGH);
+    delay(this->RESET_HIGH_WAIT);
+    digitalWrite(this->reset_pin, LOW);
+    delay(this->RESET_LOW_WAIT);
+
+    // send initialization byte
+    this->serialCom->write(0xFF);
+
+    return 0;
+}
+int PololuMSC::setPosition(int motorID, int newValue) {
+    if ( newValue > 254 || newValue < 0
+            || motorID < 0 || motorID > this->SERVO_SLOTS - 1 ) {
+        if ( this->DEBUG ) {
+            this->serialDebug->println("Invalid setPosition Values");
+        }
+        return -1;
+    }  
+    this->available_servos[motorID].current_value = newValue;
+    this->available_servos[motorID].is_attached = true;
+
+    this->serialCom->write(0xFF);
+    this->serialCom->write(motorID);
+    this->serialCom->write(newValue);
+
+    return 0;
+}
+
+int PololuMSC::debugSet(Stream* newSerial) {
+    if ( newSerial == NULL ) {
+        return -1;
+    }
+    this->serialDebug = newSerial;
+    this->DEBUG = true;
+
+    return 0;
+}
+
+int PololuMSC::debugOff() {
+    this->DEBUG = false;
+    this->serialDebug = NULL;
+    return 0;
+}

PololuServo/pololu_servo.h

@@ -16,11 +16,57 @@
  * Copyright (C) Stephen Cripps, 2013
  */
 
+/* Pololu Micro Servo controller class
+ *
+ * Basically the servo controller only needs to have serial commands sent
+ * to it, in accord with the mode of operation you choose. In this case,
+ * the library is using the Mini SSC II commands as opposed to the Pololu
+ * specific commands, which you can read about in the documentation
+ * posted on the wiki.
+ */
+
+#ifndef pololu_servo_h
+#define pololu_servo_h
+
 #include <Arduino.h>
 
 class PololuMSC {
     private:
+        static const int RESET_HIGH_WAIT = 100;
+        static const int RESET_LOW_WAIT = 1000;
+        static const int SERVO_SLOTS = 8;
+        static const int SERVO_DEFAULT = 127;
+
+        struct servo {
+            int current_value;
+            bool is_attached;
+        };
+        struct servo available_servos[SERVO_SLOTS];
+
+        // To check for a high current situation
+        // No hardware to implement this as of yet
+        int power_supply_current;
+
         Stream* serialCom;
+        int reset_pin;
+
+        Stream* serialDebug;
+        int DEBUG;
+
     public:
-        PololuMSC(Stream*);
-}
+        /** One instance of an initialised serial port and the pin for
+         * the reset on the Pololu
+         */
+        PololuMSC(Stream*, int);
+
+        /** This device has no error reporting, if behaviour becomes
+         * suspect, restart device.
+         */
+        int restart();
+        int setPosition(int motorID, int newValue);
+
+        int debugSet(Stream*);
+        int debugOff();
+};
+
+#endif