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driver.go
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driver.go
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// Package gopigo3 is based on https://github.com/DexterInd/GoPiGo3/blob/master/Software/Python/gopigo3.py
// You will need to run the following commands if using a stock raspbian image before this library will work:
// sudo curl -kL dexterindustries.com/update_gopigo3 | bash
// sudo reboot
package gopigo3
import (
"bytes"
"encoding/binary"
"fmt"
"math"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/spi"
)
// spi address for gopigo3
const goPiGo3Address = 0x08
// register addresses for gopigo3
const (
NONE byte = iota
GET_MANUFACTURER
GET_NAME
GET_HARDWARE_VERSION
GET_FIRMWARE_VERSION
GET_ID
SET_LED
GET_VOLTAGE_5V
GET_VOLTAGE_VCC
SET_SERVO
SET_MOTOR_PWM
SET_MOTOR_POSITION
SET_MOTOR_POSITION_KP
SET_MOTOR_POSITION_KD
SET_MOTOR_DPS
SET_MOTOR_LIMITS
OFFSET_MOTOR_ENCODER
GET_MOTOR_ENCODER_LEFT
GET_MOTOR_ENCODER_RIGHT
GET_MOTOR_STATUS_LEFT
GET_MOTOR_STATUS_RIGHT
SET_GROVE_TYPE
SET_GROVE_MODE
SET_GROVE_STATE
SET_GROVE_PWM_DUTY
SET_GROVE_PWM_FREQUENCY
GET_GROVE_VALUE_1
GET_GROVE_VALUE_2
GET_GROVE_STATE_1_1
GET_GROVE_STATE_1_2
GET_GROVE_STATE_2_1
GET_GROVE_STATE_2_2
GET_GROVE_VOLTAGE_1_1
GET_GROVE_VOLTAGE_1_2
GET_GROVE_VOLTAGE_2_1
GET_GROVE_VOLTAGE_2_2
GET_GROVE_ANALOG_1_1
GET_GROVE_ANALOG_1_2
GET_GROVE_ANALOG_2_1
GET_GROVE_ANALOG_2_2
START_GROVE_I2C_1
START_GROVE_I2C_2
)
const (
WHEEL_BASE_WIDTH = 117 // distance (mm) from left wheel to right wheel. This works with the initial GPG3 prototype. Will need to be adjusted.
WHEEL_DIAMETER = 66.5 // wheel diameter (mm)
WHEEL_BASE_CIRCUMFERENCE = WHEEL_BASE_WIDTH * math.Pi // circumference of the circle the wheels will trace while turning (mm)
WHEEL_CIRCUMFERENCE = WHEEL_DIAMETER * math.Pi // circumference of the wheels (mm)
MOTOR_GEAR_RATIO = 120 // motor gear ratio
ENCODER_TICKS_PER_ROTATION = 6 // encoder ticks per motor rotation (number of magnet positions)
MOTOR_TICKS_PER_DEGREE = ((MOTOR_GEAR_RATIO * ENCODER_TICKS_PER_ROTATION) / 360.0) // encoder ticks per output shaft rotation degree
GROVE_I2C_LENGTH_LIMIT = 16
MOTOR_FLOAT = -128
)
// GroveMode sets the mode of AD pins on the gopigo3.
type GroveMode byte
const (
GROVE_INPUT_DIGITAL GroveMode = 0
GROVE_OUTPUT_DIGITAL GroveMode = 1
GROVE_INPUT_DIGITAL_PULLUP GroveMode = 2
GROVE_INPUT_DIGITAL_PULLDOWN GroveMode = 3
GROVE_INPUT_ANALOG GroveMode = 4
GROVE_OUTPUT_PWM GroveMode = 5
GROVE_INPUT_ANALOG_PULLUP GroveMode = 6
GROVE_INPUT_ANALOG_PULLDOWN GroveMode = 7
)
// Servo contains the address for the 2 servo ports.
type Servo byte
const (
SERVO_1 Servo = 0x01
SERVO_2 Servo = 0x02
)
// Motor contains the address for the left and right motors.
type Motor byte
const (
MOTOR_LEFT Motor = 0x01
MOTOR_RIGHT Motor = 0x02
)
// Led contains the addresses for all leds on the board.
type Led byte
const (
LED_EYE_RIGHT Led = 0x01
LED_EYE_LEFT Led = 0x02
LED_BLINKER_LEFT Led = 0x04
LED_BLINKER_RIGHT Led = 0x08
LED_WIFI Led = 0x80
)
// Grove contains the addresses for pins/ports of the AD1/AD2 grove connector.
type Grove byte
const (
AD11 string = "AD_1_1"
AD12 string = "AD_1_2"
AD21 string = "AD_2_1"
AD22 string = "AD_2_2"
AD_1_1_G Grove = 0x01 // default pin for most grove devices, A0/D0
AD_1_2_G Grove = 0x02
AD_2_1_G Grove = 0x04 // default pin for most grove devices, A0/D0
AD_2_2_G Grove = 0x08
AD_1_G Grove = AD_1_1_G + AD_1_2_G
AD_2_G Grove = AD_2_1_G + AD_2_2_G
)
// GroveType represents the type of a grove device.
type GroveType int
const (
CUSTOM GroveType = 1
IR_DI_REMOTE = 2
IR_EV3_REMOTE = 3
US = 4
I2C = 5
)
// GroveState contains the state of a grove device.
type GroveState int
const (
VALID_DATA GroveState = iota
NOT_CONFIGURED
CONFIGURING
NO_DATA
I2C_ERROR
)
// Driver is a Gobot Driver for the GoPiGo3 board.
type Driver struct {
name string
connector spi.Connector
connection spi.Connection
spi.Config
}
// NewDriver creates a new Gobot Driver for the GoPiGo3 board.
//
// Params:
// a *Adaptor - the Adaptor to use with this Driver
//
// Optional params:
// spi.WithBus(int): bus to use with this driver
// spi.WithChip(int): chip to use with this driver
// spi.WithMode(int): mode to use with this driver
// spi.WithBits(int): number of bits to use with this driver
// spi.WithSpeed(int64): speed in Hz to use with this driver
//
func NewDriver(a spi.Connector, options ...func(spi.Config)) *Driver {
spiConfig := spi.NewConfig()
// use /dev/spidev0.1
spiConfig.WithBus(0)
spiConfig.WithChip(1)
g := &Driver{
name: gobot.DefaultName("GoPiGo3"),
connector: a,
Config: spiConfig,
}
for _, option := range options {
option(g)
}
return g
}
// Name returns the name of the device.
func (g *Driver) Name() string { return g.name }
// SetName sets the name of the device.
func (g *Driver) SetName(n string) { g.name = n }
// Connection returns the Connection of the device.
func (g *Driver) Connection() gobot.Connection { return g.connection.(gobot.Connection) }
// Halt stops the driver.
func (g *Driver) Halt() (err error) {
g.resetAll()
time.Sleep(10 * time.Millisecond)
return
}
// Start initializes the GoPiGo3
func (g *Driver) Start() (err error) {
bus := g.GetBusOrDefault(g.connector.GetSpiDefaultBus())
chip := g.GetChipOrDefault(g.connector.GetSpiDefaultChip())
mode := g.GetModeOrDefault(g.connector.GetSpiDefaultMode())
bits := g.GetBitsOrDefault(g.connector.GetSpiDefaultBits())
maxSpeed := g.GetSpeedOrDefault(g.connector.GetSpiDefaultMaxSpeed())
g.connection, err = g.connector.GetSpiConnection(bus, chip, mode, bits, maxSpeed)
if err != nil {
return err
}
return nil
}
// GetManufacturerName returns the manufacturer from the firmware.
func (g *Driver) GetManufacturerName() (mName string, err error) {
// read 24 bytes to get manufacturer name
response, err := g.readBytes(goPiGo3Address, GET_MANUFACTURER, 24)
if err != nil {
return mName, err
}
if err := g.responseValid(response); err != nil {
return mName, err
}
mf := response[4:23]
mf = bytes.Trim(mf, "\x00")
return fmt.Sprintf("%s", string(mf)), nil
}
// GetBoardName returns the board name from the firmware.
func (g *Driver) GetBoardName() (bName string, err error) {
// read 24 bytes to get board name
response, err := g.readBytes(goPiGo3Address, GET_NAME, 24)
if err != nil {
return bName, err
}
if err := g.responseValid(response); err != nil {
return bName, err
}
mf := response[4:23]
mf = bytes.Trim(mf, "\x00")
return fmt.Sprintf("%s", string(mf)), nil
}
// GetHardwareVersion returns the hardware version from the firmware.
func (g *Driver) GetHardwareVersion() (hVer string, err error) {
response, err := g.readUint32(goPiGo3Address, GET_HARDWARE_VERSION)
if err != nil {
return hVer, err
}
major := response / 1000000
minor := response / 1000 % 1000
patch := response % 1000
return fmt.Sprintf("%d.%d.%d", major, minor, patch), nil
}
// GetFirmwareVersion returns the current firmware version.
func (g *Driver) GetFirmwareVersion() (fVer string, err error) {
response, err := g.readUint32(goPiGo3Address, GET_FIRMWARE_VERSION)
if err != nil {
return fVer, err
}
major := response / 1000000
minor := response / 1000 % 1000
patch := response % 1000
return fmt.Sprintf("%d.%d.%d", major, minor, patch), nil
}
// GetSerialNumber returns the 128-bit hardware serial number of the board.
func (g *Driver) GetSerialNumber() (sNum string, err error) {
// read 20 bytes to get the serial number
response, err := g.readBytes(goPiGo3Address, GET_ID, 20)
if err != nil {
return sNum, err
}
if err := g.responseValid(response); err != nil {
return sNum, err
}
return fmt.Sprintf("%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X%02X", response[4], response[5], response[6], response[7], response[8], response[9], response[10], response[11], response[12], response[13], response[14], response[15], response[16], response[17], response[18], response[19]), nil
}
// Get5vVoltage returns the current voltage on the 5v line.
func (g *Driver) Get5vVoltage() (voltage float32, err error) {
val, err := g.readUint16(goPiGo3Address, GET_VOLTAGE_5V)
return (float32(val) / 1000.0), err
}
// GetBatteryVoltage gets the battery voltage from the main battery pack (7v-12v).
func (g *Driver) GetBatteryVoltage() (voltage float32, err error) {
val, err := g.readUint16(goPiGo3Address, GET_VOLTAGE_VCC)
return (float32(val) / 1000.0), err
}
// SetLED sets rgb values from 0 to 255.
func (g *Driver) SetLED(led Led, red, green, blue uint8) error {
return g.writeBytes([]byte{
goPiGo3Address,
SET_LED,
byte(led),
byte(red),
byte(green),
byte(blue),
})
}
// SetServo sets a servo's position in microseconds (0-16666).
func (g *Driver) SetServo(srvo Servo, us uint16) error {
return g.writeBytes([]byte{
goPiGo3Address,
SET_SERVO,
byte(srvo),
byte((us >> 8) & 0xFF),
byte(us & 0xFF),
})
}
// ServoWrite writes an angle (0-180) to the given servo (servo 1 or servo 2).
func (g *Driver) ServoWrite(srvo Servo, angle byte) error {
pulseWidthRange := 1850
if angle > 180 {
angle = 180
}
if angle < 0 {
angle = 0
}
pulseWidth := ((1500 - (pulseWidthRange / 2)) + ((pulseWidthRange / 180) * int(angle)))
return g.SetServo(srvo, uint16(pulseWidth))
}
// SetMotorPower sets a motor's power from -128 to 127.
func (g *Driver) SetMotorPower(motor Motor, power int8) error {
return g.writeBytes([]byte{
goPiGo3Address,
SET_MOTOR_PWM,
byte(motor),
byte(power),
})
}
// SetMotorPosition sets the motor's position in degrees.
func (g *Driver) SetMotorPosition(motor Motor, position int) error {
positionRaw := position * MOTOR_TICKS_PER_DEGREE
return g.writeBytes([]byte{
goPiGo3Address,
SET_MOTOR_POSITION,
byte(motor),
byte((positionRaw >> 24) & 0xFF),
byte((positionRaw >> 16) & 0xFF),
byte((positionRaw >> 8) & 0xFF),
byte(positionRaw & 0xFF),
})
}
// SetMotorDps sets the motor target speed in degrees per second.
func (g *Driver) SetMotorDps(motor Motor, dps int) error {
d := dps * MOTOR_TICKS_PER_DEGREE
return g.writeBytes([]byte{
goPiGo3Address,
SET_MOTOR_DPS,
byte(motor),
byte((d >> 8) & 0xFF),
byte(d & 0xFF),
})
}
// SetMotorLimits sets the speed limits for a motor.
func (g *Driver) SetMotorLimits(motor Motor, power int8, dps int) error {
dpsUint := dps * MOTOR_TICKS_PER_DEGREE
return g.writeBytes([]byte{
goPiGo3Address,
SET_MOTOR_LIMITS,
byte(motor),
byte(power),
byte((dpsUint >> 8) & 0xFF),
byte(dpsUint & 0xFF),
})
}
// GetMotorStatus returns the status for the given motor.
func (g *Driver) GetMotorStatus(motor Motor) (flags uint8, power uint16, encoder, dps int, err error) {
message := GET_MOTOR_STATUS_RIGHT
if motor == MOTOR_LEFT {
message = GET_MOTOR_STATUS_LEFT
}
response, err := g.readBytes(goPiGo3Address, message, 12)
if err != nil {
return flags, power, encoder, dps, err
}
if err := g.responseValid(response); err != nil {
return flags, power, encoder, dps, err
}
// get flags
flags = uint8(response[4])
// get power
power = uint16(response[5])
if power&0x80 == 0x80 {
power = power - 0x100
}
// get encoder
enc := make([]byte, 4)
enc[3] = response[6]
enc[2] = response[7]
enc[1] = response[8]
enc[0] = response[9]
e := binary.LittleEndian.Uint32(enc)
if e&0x80000000 == 0x80000000 {
encoder = int(uint64(e) - 0x100000000)
}
encoder = int(e)
//get dps
d := make([]byte, 4)
d[1] = response[10]
d[0] = response[11]
ds := binary.LittleEndian.Uint32(d)
if ds&0x8000 == 0x8000 {
dps = int(ds - 0x10000)
}
dps = int(ds)
return flags, power, encoder / MOTOR_TICKS_PER_DEGREE, dps / MOTOR_TICKS_PER_DEGREE, nil
}
// GetMotorEncoder reads a motor's encoder in degrees.
func (g *Driver) GetMotorEncoder(motor Motor) (encoder int64, err error) {
message := GET_MOTOR_ENCODER_RIGHT
if motor == MOTOR_LEFT {
message = GET_MOTOR_ENCODER_LEFT
}
response, err := g.readUint32(goPiGo3Address, message)
if err != nil {
return encoder, err
}
encoder = int64(response)
if response&0x80000000 != 0 {
encoder = encoder - 0x100000000
}
encoder = encoder / MOTOR_TICKS_PER_DEGREE
return encoder, nil
}
// OffsetMotorEncoder offsets a motor's encoder for calibration purposes.
func (g *Driver) OffsetMotorEncoder(motor Motor, offset float64) error {
offsetUint := math.Float64bits(offset * MOTOR_TICKS_PER_DEGREE)
return g.writeBytes([]byte{
goPiGo3Address,
OFFSET_MOTOR_ENCODER,
byte(motor),
byte((offsetUint >> 24) & 0xFF),
byte((offsetUint >> 16) & 0xFF),
byte((offsetUint >> 8) & 0xFF),
byte(offsetUint & 0xFF),
})
}
// SetGroveType sets the given port to a grove device type.
func (g *Driver) SetGroveType(port Grove, gType GroveType) error {
return g.writeBytes([]byte{
goPiGo3Address,
SET_GROVE_TYPE,
byte(port),
byte(gType),
})
}
// SetGroveMode sets the mode a given pin/port of the grove connector.
func (g *Driver) SetGroveMode(port Grove, mode GroveMode) error {
return g.writeBytes([]byte{
goPiGo3Address,
SET_GROVE_MODE,
byte(port),
byte(mode),
})
}
// SetPWMDuty sets the pwm duty cycle for the given pin/port.
func (g *Driver) SetPWMDuty(port Grove, duty uint16) (err error) {
if duty < 0 {
duty = 0
}
if duty > 100 {
duty = 100
}
duty = duty * 10
return g.writeBytes([]byte{
goPiGo3Address,
SET_GROVE_PWM_DUTY,
byte(port),
byte((duty >> 8) & 0xFF),
byte(duty & 0xFF),
})
}
// SetPWMFreq setst the pwm frequency for the given pin/port.
func (g *Driver) SetPWMFreq(port Grove, freq uint16) error {
if freq < 3 {
freq = 3
}
if freq > 48000 {
freq = 48000
}
return g.writeBytes([]byte{
goPiGo3Address,
SET_GROVE_PWM_FREQUENCY,
byte(port),
byte((freq >> 8) & 0xFF),
byte(freq & 0xFF),
})
}
// PwmWrite implents the pwm interface for the gopigo3.
func (g *Driver) PwmWrite(pin string, val byte) (err error) {
var (
grovePin, grovePort Grove
)
grovePin, grovePort, _, _, err = getGroveAddresses(pin)
if err != nil {
return err
}
err = g.SetGroveType(grovePort, CUSTOM)
if err != nil {
return err
}
time.Sleep(10 * time.Millisecond)
err = g.SetGroveMode(grovePin, GROVE_OUTPUT_PWM)
if err != nil {
return err
}
time.Sleep(10 * time.Millisecond)
err = g.SetPWMFreq(grovePin, 24000)
if err != nil {
return err
}
val64 := math.Float64frombits(uint64(val))
dutyCycle := uint16(math.Float64bits((100.0 / 255.0) * val64))
return g.SetPWMDuty(grovePin, dutyCycle)
}
// AnalogRead returns the analog value of the given pin.
func (g *Driver) AnalogRead(pin string) (value int, err error) {
var (
grovePin, grovePort Grove
analogCmd byte
)
grovePin, grovePort, analogCmd, _, err = getGroveAddresses(pin)
if err != nil {
return value, err
}
err = g.SetGroveType(grovePort, CUSTOM)
if err != nil {
return value, err
}
time.Sleep(10 * time.Millisecond)
err = g.SetGroveMode(grovePin, GROVE_INPUT_ANALOG)
if err != nil {
return value, err
}
time.Sleep(10 * time.Millisecond)
response, err := g.readBytes(goPiGo3Address, analogCmd, 7)
if err != nil {
return value, err
}
if err := g.responseValid(response); err != nil {
return value, err
}
if err := g.valueValid(response); err != nil {
return value, err
}
highBytes := uint16(response[5])
lowBytes := uint16(response[6])
return int((highBytes<<8)&0xFF00) | int(lowBytes&0xFF), nil
}
// DigitalWrite writes a 0/1 value to the given pin.
func (g *Driver) DigitalWrite(pin string, val byte) (err error) {
var (
grovePin, grovePort Grove
)
grovePin, grovePort, _, _, err = getGroveAddresses(pin)
if err != nil {
return err
}
err = g.SetGroveType(grovePort, CUSTOM)
if err != nil {
return err
}
time.Sleep(10 * time.Millisecond)
err = g.SetGroveMode(grovePin, GROVE_OUTPUT_DIGITAL)
if err != nil {
return err
}
time.Sleep(10 * time.Millisecond)
err = g.writeBytes([]byte{
goPiGo3Address,
SET_GROVE_STATE,
byte(grovePin),
byte(val),
})
return err
}
// DigitalRead reads the 0/1 value from the given pin.
func (g *Driver) DigitalRead(pin string) (value int, err error) {
var (
grovePin, grovePort Grove
stateCmd byte
)
grovePin, grovePort, _, stateCmd, err = getGroveAddresses(pin)
if err != nil {
return value, err
}
err = g.SetGroveType(grovePort, CUSTOM)
if err != nil {
return value, err
}
time.Sleep(10 * time.Millisecond)
err = g.SetGroveMode(grovePin, GROVE_INPUT_DIGITAL)
if err != nil {
return value, err
}
time.Sleep(10 * time.Millisecond)
response, err := g.readBytes(goPiGo3Address, stateCmd, 6)
if err != nil {
return value, err
}
if err := g.responseValid(response); err != nil {
return value, err
}
if err := g.valueValid(response); err != nil {
return value, err
}
return int(response[5]), nil
}
func getGroveAddresses(pin string) (gPin, gPort Grove, analog, state byte, err error) {
switch pin {
case "AD_1_1":
gPin = AD_1_1_G
gPort = AD_1_G
analog = GET_GROVE_ANALOG_1_1
state = GET_GROVE_STATE_1_1
case "AD_1_2":
gPin = AD_1_2_G
gPort = AD_1_G
analog = GET_GROVE_ANALOG_1_2
state = GET_GROVE_STATE_1_2
case "AD_2_1":
gPin = AD_2_1_G
gPort = AD_2_G
analog = GET_GROVE_ANALOG_2_1
state = GET_GROVE_STATE_2_1
case "AD_2_2":
gPin = AD_2_2_G
gPort = AD_2_G
analog = GET_GROVE_ANALOG_2_2
state = GET_GROVE_STATE_2_2
default:
err = fmt.Errorf("Invalid grove pin name")
}
return gPin, gPort, analog, state, err
}
func (g *Driver) responseValid(response []byte) error {
if response[3] != 0xA5 {
return fmt.Errorf("No SPI response, response not valid")
}
return nil
}
func (g *Driver) valueValid(value []byte) error {
if value[4] != byte(VALID_DATA) {
return fmt.Errorf("Invalid value")
}
return nil
}
func (g *Driver) readBytes(address byte, msg byte, numBytes int) (val []byte, err error) {
w := make([]byte, numBytes)
w[0] = address
w[1] = msg
r := make([]byte, len(w))
err = g.connection.Tx(w, r)
if err != nil {
return val, err
}
return r, nil
}
func (g *Driver) readUint16(address, msg byte) (val uint16, err error) {
r, err := g.readBytes(address, msg, 8)
if err != nil {
return val, err
}
if err := g.responseValid(r); err != nil {
return val, err
}
return uint16(r[4])<<8 | uint16(r[5]), nil
}
func (g *Driver) readUint32(address, msg byte) (val uint32, err error) {
r, err := g.readBytes(address, msg, 8)
if err != nil {
return val, err
}
if err := g.responseValid(r); err != nil {
return val, err
}
return uint32(r[4])<<24 | uint32(r[5])<<16 | uint32(r[6])<<8 | uint32(r[7]), nil
}
func (g *Driver) writeBytes(w []byte) (err error) {
return g.connection.Tx(w, nil)
}
func (g *Driver) resetAll() {
g.SetGroveType(AD_1_G+AD_2_G, CUSTOM)
time.Sleep(10 * time.Millisecond)
g.SetGroveMode(AD_1_G+AD_2_G, GROVE_INPUT_DIGITAL)
time.Sleep(10 * time.Millisecond)
g.SetMotorPower(MOTOR_LEFT+MOTOR_RIGHT, 0.0)
g.SetMotorLimits(MOTOR_LEFT+MOTOR_RIGHT, 0, 0)
g.SetServo(SERVO_1+SERVO_2, 0)
g.SetLED(LED_EYE_LEFT+LED_EYE_RIGHT+LED_BLINKER_LEFT+LED_BLINKER_RIGHT, 0, 0, 0)
}