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/*
* Copyright (C) 2018 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/>.
*/
#include "LibraryBase.h"
#define MTRV2_INIT 0x00
#define MTRV2_FREE 0x01
#define MTRV2_INIT_STEPPER 0x10
#define MTRV2_FREE_STEPPER 0x11
#define MTRV2_MOVE_STEPPER 0x12
#define MTRV2_RELEASE_STEPPER 0x13
#define MTRV2_INIT_DCMOTOR 0x20
#define MTRV2_FREE_DCMOTOR 0x21
#define MTRV2_START_DCMOTOR 0x22
#define MTRV2_STOP_DCMOTOR 0x23
// must add the adatfruit morotrshieldv2 library to arduino for this to compile
#include <Adafruit_MotorShield.h>
// Create the motor shield object with the default I2C address
//Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select which 'port' M1, M2, M3 or M4. In this case, M1
//Adafruit_DCMotor *myMotor = AFMS.getMotor(0);
class MotorShieldV2Addon : public LibraryBase
{
Adafruit_MotorShield *AFMS;
Adafruit_StepperMotor *stepperMotor[2];
Adafruit_DCMotor *dcMotor[4];
public:
MotorShieldV2Addon(OctaveArduinoClass& a)
{
libName = "adafruit/MotorShieldV2";
a.registerLibrary(this);
}
void init() {
byte i;
AFMS = 0;
for (i=0;i<2;i++) {
stepperMotor[i] = 0;
}
for (i=0;i<4;i++) {
dcMotor[i] = 0;
}
// AFMS.getStepper(200, 2);
// myMotor->setSpeed(10); // 10 rpm
// myMotor->step(100, FORWARD, SINGLE);
//
// Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
// // turn on motor M1
//myMotor->setSpeed(200);
//myMotor->run(RELEASE);
//
// servo1.attach(10);
}
void commandHandler(uint8_t cmdId, uint8_t* data, uint8_t datasz)
{
switch(cmdId)
{
case MTRV2_INIT:
{
// send in the address
// (currently) we only support a single control board
if(datasz != 3) {
sendInvalidNumArgsMsg();
}
else {
// TODO: pwm speed as well
AFMS = new Adafruit_MotorShield(data[0]);
uint16_t freq = data[1];
freq = (freq<<8)|data[2];
AFMS->begin(freq); // input freq
sendResponseMsg(cmdId, data, 1);
}
break;
}
case MTRV2_FREE:
{
if(AFMS) {
//AFMS->release();
delete AFMS;
AFMS = 0;
}
sendResponseMsg(cmdId, data, 1);
break;
}
case MTRV2_INIT_DCMOTOR:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
if(datasz != 2) {
sendInvalidNumArgsMsg();
} else if(data[1] > 3) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else if(AFMS) {
dcMotor[data[1]] = AFMS->getMotor(data[1]+1);
if(dcMotor[data[1]]) {
dcMotor[data[1]]->setSpeed(0);
dcMotor[data[1]]->run(FORWARD);
dcMotor[data[1]]->run(RELEASE);
sendResponseMsg(cmdId, data, 2);
} else {
sendInvalidNumArgsMsg();
}
} else {
sendInvalidNumArgsMsg();
}
break;
}
case MTRV2_FREE_DCMOTOR:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
if(datasz != 2) {
sendInvalidNumArgsMsg();
} else if(data[1] > 3) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else {
if(dcMotor[data[1]]) {
//dcMotor[data[1]]->run(RELEASE);
dcMotor[data[1]]->setSpeed(0);
dcMotor[data[1]]->run(RELEASE);
dcMotor[data[1]] = 0;
}
sendResponseMsg(cmdId, data, 2);
}
break;
}
case MTRV2_STOP_DCMOTOR:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
if(datasz != 2) {
sendInvalidNumArgsMsg();
} else if(data[1] > 3) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else {
if(dcMotor[data[1]]) {
dcMotor[data[1]]->setSpeed(0);
dcMotor[data[1]]->run(RELEASE);
}
sendResponseMsg(cmdId, data, 2);
}
break;
}
case MTRV2_START_DCMOTOR:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
// 2 = dir 1=forwrf, else reverse
// 3 = speed (0..255)
if(datasz != 4) {
sendInvalidNumArgsMsg();
} else if(data[1] > 3) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else {
if(dcMotor[data[1]]) {
dcMotor[data[1]]->setSpeed(data[3]);
dcMotor[data[1]]->run((data[2] == 1) ? FORWARD : BACKWARD);
sendResponseMsg(cmdId, data, 2);
}
else {
sendInvalidNumArgsMsg();
}
}
break;
}
case MTRV2_INIT_STEPPER:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
// 2,3 = stepsprerev
if(datasz != 4) {
sendInvalidNumArgsMsg();
} else if(data[1] > 1) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else if(AFMS) {
uint16_t cnt = data[2];
cnt = (cnt<<8)|data[3];
stepperMotor[data[1]] = AFMS->getStepper(cnt, data[1]+1);
if(stepperMotor[data[1]]) {
sendResponseMsg(cmdId, data, 2);
} else {
sendInvalidNumArgsMsg();
}
} else {
sendInvalidNumArgsMsg();
}
break;
}
case MTRV2_FREE_STEPPER:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
if(datasz != 2) {
sendInvalidNumArgsMsg();
} else if(data[1] > 1) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else {
if(stepperMotor[data[1]]) {
//dcMotor[data[1]]->run(RELEASE);
stepperMotor[data[1]]->release();
stepperMotor[data[1]] = 0;
}
sendResponseMsg(cmdId, data, 2);
}
break;
}
case MTRV2_RELEASE_STEPPER:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
if(datasz != 2) {
sendInvalidNumArgsMsg();
} else if(data[1] > 1) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else {
if(stepperMotor[data[1]]) {
stepperMotor[data[1]]->release();
}
sendResponseMsg(cmdId, data, 2);
}
break;
}
case MTRV2_MOVE_STEPPER:
{
// 0 = shieldid (spiaddress)
// 1 = motor num
// 2 = dir 1=forward, else reverse
// 3,4 uint16 rpm
// 5,6 steps
// 7 steptype
if(datasz != 8) {
sendInvalidNumArgsMsg();
} else if(data[1] > 1) {
// TODO invalid value
sendInvalidNumArgsMsg();
} else {
if(stepperMotor[data[1]]) {
uint16_t rpm = data[3];
rpm = rpm<<8 | data[4];
uint16_t steps = data[5];
steps = steps<<8 | data[6];
uint8_t style = data[7];
style = SINGLE;
if(style == 1) style = DOUBLE;
if(style == 2) style = INTERLEAVE;
if(style == 3) style = MICROSTEP;
stepperMotor[data[1]]->setSpeed(rpm);
sendWaitMsg();
stepperMotor[data[1]]->step(steps, (data[2] == 1) ? FORWARD : BACKWARD, style);
sendResponseMsg(cmdId, data, 2);
}
else {
sendInvalidNumArgsMsg();
}
}
break;
}
default:
{
// notify of invalid cmd
sendUnknownCmdIDMsg();
}
break;
}
}
};
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