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## Copyright (C) 2018-2020 John Donoghue <john.donoghue@ieee.org>
##
## This program is free software: you can redistribute it and/or modify it
## under the terms of the GNU General Public License as published by
## the Free Software Foundation, either version 3 of the License, or
## (at your option) any later version.
##
## This program is distributed in the hope that it will be useful, but
## WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU General Public License for more details.
##
## You should have received a copy of the GNU General Public License
## along with this program. If not, see
## <https://www.gnu.org/licenses/>.
classdef dcmotorv2 < arduinoio.AddonBase
## -*- texinfo -*-
## @deftypefn {} {} arduinoioaddons.adafruit.dcmotorv2
## DC Motor class for dc motor control on the adafruit motor shield
##
## @seealso{arduinoioaddons.adafruit.motorshieldv2}
## @end deftypefn
##
## @subsubheading Properties
## @var{Speed} - The speed value set for the motor
##
## @var{Parent} - The parent shield for object (read only)
##
## @var{MotorNumber} - The motor number (read only) values 1-4
##
## @var{IsRunning} - boolean for if the motor is started (read only)
##
## @subheading Methods
## @deftypefn {} {@var{obj} =} dcmotorv2(@var{mObj}, @var{mnum})
## @deftypefnx {} {@var{obj} =} dcmotorv2(@var{mObj}, @var{mnum}, @var{propertyname, propertyvalue} ....)
## Constructor to create dcmotor object
## @subsubheading Inputs
## @var{mObj} - the motor shield object
##
## @var{mnum} - The motor number (1 - 4)
##
## @var{propertyname, propertyvalue} - Optional property name/value
## pairs to pass to motor object.
##
## Current known properties are:
## @table @asis
## @item Speed
## Initial speed (default 0). Should be a value between -1 and 1.
## @end table
##
## @subsubheading Outputs
## @var{s} - a dcmotorv2 object
##
## @subsubheading Example
## @example
## @code {
## a = arduino()
## ms = addon(a, "adafruit/motorshieldv2")
## mtr = dcmotor(ms, 1)
## }
## @end example
## @end deftypefn
##
## @deftypefn {} {} start(@var{dcObj})
## Start the motor moving in previously set speed/direction
##
## @subsubheading Inputs
## @var{dcObj} - the dcmotor object
##
## @subsubheading Outputs
## None
##
## @seealso{adafruit.motorshieldv2}
## @end deftypefn
##
## @deftypefn {} {} stop(@var{dcObj})
## Stop the motor moving
##
## @subsubheading Inputs
## @var{dcObj} - the dcmotor object
##
## @subsubheading Outputs
## None
##
## @seealso{adafruit.motorshieldv2}
## @end deftypefn
properties(Access = private, Constant = true)
INIT_COMMAND = hex2dec('20');
FREE_COMMAND = hex2dec('21');
START_COMMAND = hex2dec('22');
STOP_COMMAND = hex2dec('23');
endproperties
properties(Access = private)
cleanup;
endproperties
properties(GetAccess = public, SetAccess = private)
MotorNumber;
IsRunning = false;
endproperties
properties(Access = public)
Speed = 0;
endproperties
methods
function this = dcmotorv2(shield, mnum, varargin)
validate_shield = @(x) isa(x, "arduinoioaddons.adafruit.motorshieldv2");
validate_mtrnum = @(x) (isnumeric(x) && isscalar(x) && (x >= 1 && x <= 4));
validate_speed = @(x) (isnumeric(x) && (x <= 1 && x >= -1));
p = inputParser(CaseSensitive=false, FunctionName='adafruit/dcmotorv2');
p.addRequired('shield',validate_shield);
p.addRequired('mnum',validate_mtrnum);
p.addParameter('Speed', 0, validate_speed);
p.parse(shield, mnum, varargin{:});
this.Parent = p.Results.shield;
this.MotorNumber = p.Results.mnum;
this.Speed = p.Results.Speed;
sendCommand(this.Parent, this.INIT_COMMAND,[this.MotorNumber-1]);
this.cleanup = onCleanup (@() sendCommand(this.Parent, this.FREE_COMMAND, [this.MotorNumber-1]));
endfunction
function start(this)
if this.Speed < 0
direction = 0;
speed = -this.Speed*255;
else
direction = 1;
speed = this.Speed*255;
endif
sendCommand(this.Parent,this.START_COMMAND,[this.MotorNumber-1, direction, speed]);
this.IsRunning = true;
endfunction
function stop(this)
sendCommand(this.Parent,this.STOP_COMMAND,[this.MotorNumber-1]);
this.IsRunning = false;
endfunction
function set.Speed(this, newspeed)
# check speed -1 .. 0 ... 1
if !isnumeric(newspeed) || newspeed < -1 || newspeed > 1
error("Speed should be between -1 .. 1");
endif
this.Speed = newspeed;
if this.IsRunning
start(this);
endif
endfunction
function disp(this)
printf(" %s with properties\n", class(this));
printf(" MotorNumber = %d\n", this.MotorNumber);
printf(" Speed = %d\n", this.Speed);
printf(" IsRunning = %d\n", this.IsRunning);
endfunction
endmethods
endclassdef
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