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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 motorshieldv2 < arduinoio.LibraryBase
## -*- texinfo -*-
## @deftypefn {} {} arduinoioaddons.adafruit.motorshieldv2
## Adafruit motor shield addon
##
## @seealso{addon}
## @end deftypefn
##
## @subsubheading Properties
## @var{Parent} - the parent arduino object.
##
## @var{Pins} - the pins allocated the addon.
##
## @var{I2CAddress} - the i2c address used for accessing this shield.
##
## @var{PWMFrequency} - the set PWM frequency for this shield.
##
## @subheading Methods
## @deftypefn {} {@var{obj} =} motorshieldv2(@var{arObj})
## @deftypefnx {} {@var{obj} =} motorshieldv2(@var{arObj}, @var{propertyname, propertyvalue} ....)
## Constructor to create motorshieldv2 addon object
## @subsubheading Inputs
## @var{arObj} - the arduino parent object
##
## @var{propertyname, propertyvalue} - optional property name, value pairs.
## Current known properties are:
## @table @asis
## @item address
## I2C address of the motor shield (default 0x60)
## @item pwmfrequency
## PWM Frequency to set on shield (default 1600)
## @end table
##
## @subsubheading Outputs
## @var{obj} - created motorshieldv2 object
##
## @subsubheading Example
## @example
## @code {
## a = arduino()
## mtr = addon(a, "adafruit/motorshieldv2")
## }
## @end example
## @end deftypefn
##
## @deftypefn {} {@var{s} =} servo(@var{mObj}, @var{mtrnum})
## @deftypefnx {} {@var{s} =} servo(@var{mObj}, @var{mtrnum}, @var{propertyname}, @var{propertyvalue} ...)
## Create a servo object
##
## @subsubheading Inputs
## @var{mObj} - the motor shield object
##
## @var{mtrnum} - The servo motor number, where 1 is servo on
## pin "d10" and 2 is a servo on pin "d9"
##
## @var{propertyname}, @var{propertyvalue} - Optional property
## name/value pairs to pass to servo object.
##
## Properties are the same as the base servo object.
##
## @subsubheading Outputs
## @var{s} - a servo object
##
## @subsubheading Example
## @example
## @code {
## a = arduino()
## ms = addon(a, "adafruit/motorshieldv2")
## # get servo 1 (servo on pin D10)
## s = ms.servo(1)
## }
## @end example
##
## The function if the equivalent of calling the arduino.servo with
## the D9 or D10 pin has the input pin.
##
## @seealso{servo}
## @end deftypefn
##
## @deftypefn {} {@var{s} =} stepper(@var{mObj}, @var{mtrnum}, @var{stepsperrev})
## @deftypefnx {} {@var{s} =} stepper(@var{mObj}, @var{mtrnum}, @var{stepsperrev}, @var{propertyname}, @var{propertyvalue} ...)
## Create a stepper motor object
##
## @subsubheading Inputs
## @var{mObj} - the motor shield object
##
## @var{mtrnum} - The stepper motor number (1 or 2)
##
## @var{stepsperrev} - Number of steps per revolution.
##
## @var{propertyname}, @var{propertyvalue} - Optional property
## name/value pairs to pass to stepper object.
##
## @subsubheading Outputs
## @var{s} - a stepper object
##
## @end deftypefn
##
## @deftypefn {} {@var{s} =} dcmotor(@var{mObj}, @var{mtrnum})
## @deftypefnx {} {@var{s} =} dcmotor(@var{mObj}, @var{mtrnum}, @var{propertyname}, @var{propertyvalue} ...)
## Create a dcmotor motor object
##
## @subsubheading Inputs
## @var{mObj} - the motor shield object
##
## @var{mtrnum} - The motor number (1 - 4)
##
## @var{propertyname}, @var{propertyvalue} - Optional property
## name/value pairs to pass to motor object.
##
## @subsubheading Outputs
## @var{s} - a dcmotorv2 object
##
## @end deftypefn
# commands
properties(Access = private, Constant = true)
INIT_COMMAND = hex2dec('00');
FREE_COMMAND = hex2dec('01');
endproperties
properties(Access = protected, Constant = true)
LibraryName = 'adafruit/MotorShieldV2';
DependentLibraries = { "i2c", "servo" };
ArduinoLibraryHeaderFiles = {};
CppHeaderFile = fullfile(arduinoio.FilePath(mfilename('fullpath')), 'motorshieldv2.h');
CppClassName = 'MotorShieldV2Addon';
endproperties
properties(Access = private)
i2c;
cleanup;
endproperties
properties(GetAccess = public, SetAccess = private)
PWMFrequency;
I2CAddress;
endproperties
methods
# constructor
function obj = motorshieldv2(parentObj, varargin)
# parse args
p = inputParser(CaseSensitive=false, FunctionName='adafruit/MotorShieldV2');
p.addParameter('I2CAddress', 0x60, @isnumeric);
p.addParameter('PWMFrequency', 1600, @isnumeric);
p.parse(varargin{:});
obj.Parent = parentObj;
obj.I2CAddress = p.Results.I2CAddress;
obj.i2c = device(parentObj, "i2caddress", p.Results.I2CAddress);
obj.Pins = obj.i2c.Pins;
obj.PWMFrequency = p.Results.PWMFrequency;
intval = uint16(obj.PWMFrequency);
freq = [ bitshift(intval,-8) bitand(intval, 255)];
data = sendCommand(obj.Parent, obj.LibraryName, obj.INIT_COMMAND, [p.Results.I2CAddress freq]);
obj.cleanup = onCleanup (@() sendCommand(obj.Parent, obj.LibraryName, obj.FREE_COMMAND, [p.Results.I2CAddress]));
endfunction
function s = servo (obj, mnum, varargin)
if nargin < 2
error ("Expected shield and mnum")
endif
pinval = [];
if mnum == 1
pinval = "d10";
elseif mnum == 2
pinval = "d9";
else
error ("Invalid servo motor number - (should be 1 or 2)")
endif
s = servo(obj.Parent, pinval, varargin{:});
endfunction
function s = stepper (obj, mnum, stepsperrev, varargin)
if nargin < 3
error ("Expected shield and mnum and stepsperrev")
endif
s = arduinoioaddons.adafruit.stepper(obj, mnum, stepsperrev, varargin{:});
endfunction
function m = dcmotor (obj, mnum, varargin)
if nargin < 2
error ("Expected shield and mnum")
endif
m = arduinoioaddons.adafruit.dcmotorv2(obj, mnum, varargin{:});
endfunction
function disp(this)
printf(" %s with properties\n", class(this));
printf(" I2CAddress = %d (0x%X)\n", this.i2c.i2caddress, this.i2c.i2caddress);
# show i2c pins as the pins
printf(" Pins = {\n");
for i=1:numel(this.Pins)
printf(" %s\n", this.Pins{i});
endfor
printf(" }\n");
printf(" PWMFrequency = %d\n", this.PWMFrequency);
endfunction
endmethods
methods (Access = public)
function data = sendCommand(obj, commandid, data)
[data,~] = sendCommand(obj.Parent, obj.LibraryName, commandid, [obj.i2c.i2caddress data]);
endfunction
endmethods
endclassdef
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