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Merge pull request #65 from WildernessLabs/Pca9685_updates
Pca9685 updates
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,145 +1,94 @@ | ||
| using Meadow.Foundation.ICs.IOExpanders; | ||
| using System; | ||
| using Meadow.Hardware; | ||
| using static Meadow.Foundation.FeatherWings.MotorWing; | ||
|
|
||
| namespace Meadow.Foundation.FeatherWings | ||
| { | ||
| /// <summary> | ||
| /// Motor commands | ||
| /// </summary> | ||
| public enum Commmand | ||
| { | ||
| /// <summary> | ||
| /// Move forward | ||
| /// </summary> | ||
| FORWARD, | ||
| /// <summary> | ||
| /// Move backwards | ||
| /// </summary> | ||
| BACKWARD, | ||
| /// <summary> | ||
| /// Release | ||
| /// </summary> | ||
| RELEASE | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Represents a DC Motor | ||
| /// </summary> | ||
| public class DCMotor : Motor | ||
| public class DCMotor | ||
| { | ||
| readonly byte _pwmPin; | ||
| readonly byte _in1; | ||
| readonly byte _in2; | ||
| private readonly IPwmPort pwmPort; | ||
| private readonly IDigitalOutputPort in1; | ||
| private readonly IDigitalOutputPort in2; | ||
|
|
||
| readonly Pca9685 controller; | ||
|
|
||
| /// <summary> | ||
| /// Creates a DCMotor driver | ||
| /// </summary> | ||
| /// <param name="num"></param> | ||
| /// <param name="pca9685"></param> | ||
| /// <exception cref="ArgumentException"></exception> | ||
| public DCMotor(short num, Pca9685 pca9685) : base(pca9685) | ||
| public DCMotor(DCMotorIndex motorIndex, Pca9685 pca9685) | ||
| { | ||
| controller = pca9685; | ||
|
|
||
| if (num < 0 || num > 3) | ||
| switch (motorIndex) | ||
| { | ||
| throw new ArgumentException("Motor must be between 0 and 3"); | ||
| } | ||
|
|
||
| switch (num) | ||
| { | ||
| case 0: | ||
| _pwmPin = 8; | ||
| _in2 = 9; | ||
| _in1 = 10; | ||
| case DCMotorIndex.Motor1: | ||
| pwmPort = controller.Pins.LED8.CreatePwmPort(pca9685.Frequency); | ||
| in1 = controller.Pins.LED10.CreateDigitalOutputPort(); | ||
| in2 = controller.Pins.LED9.CreateDigitalOutputPort(); | ||
| break; | ||
| case 1: | ||
| _pwmPin = 13; | ||
| _in2 = 12; | ||
| _in1 = 11; | ||
| case DCMotorIndex.Motor2: | ||
| pwmPort = controller.Pins.LED13.CreatePwmPort(pca9685.Frequency); | ||
| in1 = controller.Pins.LED11.CreateDigitalOutputPort(); | ||
| in2 = controller.Pins.LED12.CreateDigitalOutputPort(); | ||
| break; | ||
| case 2: | ||
| _pwmPin = 2; | ||
| _in2 = 3; | ||
| _in1 = 4; | ||
| case DCMotorIndex.Motor3: | ||
| pwmPort = controller.Pins.LED2.CreatePwmPort(pca9685.Frequency); | ||
| in1 = controller.Pins.LED4.CreateDigitalOutputPort(); | ||
| in2 = controller.Pins.LED3.CreateDigitalOutputPort(); | ||
| break; | ||
| case 3: | ||
| _pwmPin = 7; | ||
| _in2 = 6; | ||
| _in1 = 5; | ||
| case DCMotorIndex.Motor4: | ||
| pwmPort = controller.Pins.LED7.CreatePwmPort(pca9685.Frequency); | ||
| in1 = controller.Pins.LED5.CreateDigitalOutputPort(); | ||
| in2 = controller.Pins.LED6.CreateDigitalOutputPort(); | ||
| break; | ||
|
|
||
| } | ||
|
|
||
| Run(Commmand.RELEASE); | ||
|
|
||
| Run(Direction.Release); | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Controls the motor direction/action | ||
| /// </summary> | ||
| /// <param name="command">The action</param> | ||
| public virtual void Run(Commmand command) | ||
| public virtual void Run(Direction command) | ||
| { | ||
| if (command == Commmand.FORWARD) | ||
| { | ||
| pca9685.SetPin(_in2, false); | ||
| pca9685.SetPin(_in1, true); | ||
| } | ||
|
|
||
| if (command == Commmand.BACKWARD) | ||
| if (command == Direction.Forward) | ||
| { | ||
| pca9685.SetPin(_in2, true); | ||
| pca9685.SetPin(_in1, false); | ||
| in1.State = true; | ||
| in2.State = false; | ||
| } | ||
|
|
||
| if (command == Commmand.RELEASE) | ||
| { | ||
| pca9685.SetPin(_in1, false); | ||
| pca9685.SetPin(_in2, false); | ||
| } | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Control the DC Motor speed/throttle | ||
| /// </summary> | ||
| /// <param name="speed">The 8-bit PWM value, 0 is off, 255 is on</param> | ||
| public override void SetSpeed(short speed) | ||
| { | ||
| if (speed < 0) | ||
| else if (command == Direction.Reverse) | ||
| { | ||
| speed = 0; | ||
| in1.State = false; | ||
| in2.State = true; | ||
| } | ||
|
|
||
| if (speed > 255) | ||
| if (command == Direction.Release) | ||
| { | ||
| speed = 255; | ||
| in1.State = false; | ||
| in2.State = false; | ||
| } | ||
|
|
||
| pca9685.SetPwm(_pwmPin, 0, speed * 16); | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Control the DC Motor speed/throttle | ||
| /// </summary> | ||
| /// <param name="speed">The 12-bit PWM value, 0 is off, 4096 is on</param> | ||
| public void PreciseSpeed(short speed) | ||
| /// <param name="speed">0 is off, 1 is on</param> | ||
| public void SetSpeed(double speed) | ||
| { | ||
| if (speed > 4096) | ||
| speed = 4096; | ||
|
|
||
| if (speed < 0) | ||
| speed = 0; | ||
|
|
||
| pca9685.SetPwm(_pwmPin, 0, speed); | ||
| pwmPort.DutyCycle = speed; | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Stops the motor | ||
| /// </summary> | ||
| public void Stop() | ||
| { | ||
| Run(Commmand.RELEASE); | ||
| pca9685.SetPwm(_pwmPin, 0, 0); | ||
| Run(Direction.Release); | ||
| pwmPort.DutyCycle = 0; | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| namespace Meadow.Foundation.FeatherWings | ||
| { | ||
| public partial class MotorWing | ||
| { | ||
| /// <summary> | ||
| /// Represents the index of DC motors on the MotorWing. | ||
| /// </summary> | ||
| public enum DCMotorIndex : byte | ||
| { | ||
| /// <summary> | ||
| /// Represents DC Motor 1. | ||
| /// </summary> | ||
| Motor1 = 0, | ||
| /// <summary> | ||
| /// Represents DC Motor 2. | ||
| /// </summary> | ||
| Motor2 = 1, | ||
| /// <summary> | ||
| /// Represents DC Motor 3. | ||
| /// </summary> | ||
| Motor3 = 2, | ||
| /// <summary> | ||
| /// Represents DC Motor 4. | ||
| /// </summary> | ||
| Motor4 = 3 | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Represents the index of stepper motors on the MotorWing. | ||
| /// </summary> | ||
| public enum StepperMotorIndex : byte | ||
| { | ||
| /// <summary> | ||
| /// Represents Stepper Motor 1. | ||
| /// </summary> | ||
| Motor1 = 0, | ||
| /// <summary> | ||
| /// Represents Stepper Motor 2. | ||
| /// </summary> | ||
| Motor2 = 1 | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Defines the different motor styles for stepper motors. | ||
| /// </summary> | ||
| public enum Style | ||
| { | ||
| /// <summary> | ||
| /// Single step mode. Moves one step at a time. | ||
| /// </summary> | ||
| SINGLE = 1, | ||
| /// <summary> | ||
| /// Double step mode. Moves two steps at a time. | ||
| /// </summary> | ||
| DOUBLE = 2, | ||
|
|
||
| /// <summary> | ||
| /// Interleaved mode. Alternates between single and double steps. | ||
| /// </summary> | ||
| INTERLEAVE = 3, | ||
| /// <summary> | ||
| /// Microstep mode. Moves in smaller steps for smoother motion. | ||
| /// </summary> | ||
| MICROSTEP = 4 | ||
| } | ||
|
|
||
| /// <summary> | ||
| /// Defines the direction of motor movement. | ||
| /// </summary> | ||
| public enum Direction | ||
| { | ||
| /// <summary> | ||
| /// Moves the motor forward. | ||
| /// </summary> | ||
| Forward, | ||
| /// <summary> | ||
| /// Moves the motor in reverse (backward). | ||
| /// </summary> | ||
| Reverse, | ||
| /// <summary> | ||
| /// Releases the motor. Applies only to stepper motors. | ||
| /// </summary> | ||
| Release | ||
| } | ||
| } | ||
| } |
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