motorDriver.h

/*
 * Copyright (C) 2016 Tolga Ceylan
 *
 * CopyPolicy: Released under the terms of the GNU GPL v3.0.
 * This file incorporates work covered by the following copyright and  
 * permission notice:
 */
    /******************************************************************
     This is the library for the Adafruit Motor Shield V2 for Arduino. 
     It supports DC motors & Stepper motors with microstepping as well
     as stacking-support. It is *not* compatible with the V1 library!
     It will only work with https://www.adafruit.com/products/1483
     
     Adafruit invests time and resources providing this open
     source code, please support Adafruit and open-source hardware
     by purchasing products from Adafruit!
     
     Written by Limor Fried/Ladyada for Adafruit Industries.
     BSD license, check license.txt for more information.
     All text above must be included in any redistribution.
     ******************************************************************/
#ifndef MotorDriver_H__
#define MotorDriver_H__

#include <stdint.h>
#include "pwmServo.h"

namespace robo {

#define FORWARD 2
#define BACKWARD 1
#define RELEASE 4
    
#define LEFT 1
#define RIGHT 2

struct DCMotor
{
    uint8_t pwm;
    uint8_t in1; 
    uint8_t in2;
    uint8_t id;

    DCMotor()
        :
        pwm(0),
        in1(0),
        in2(0),
        id(0)
    {}

    bool is_valid() const
    {
        return id != 0;
    }
};


class I2C;
class Thread;

class MotorDriver
{
public:
    enum
    {
        STATE_IDLE = 0,
        STATE_INITIALIZE = 1,
        STATE_INITIALIZING = 2,
        STATE_INITIALIZED = 3,
    };

    MotorDriver(I2C *driver, Thread *thr);
    ~MotorDriver();

    static DCMotor get_dc_motor(int index);

    int initialize(int address, uint16_t freq);
    void shutdown();

    int update(uint64_t now);

    int run_dc(DCMotor motor, uint8_t cmd);
    int set_dc_speed(DCMotor motor, uint8_t speed);
    int execute();

    bool is_initialized() const
    {
        return m_state == STATE_INITIALIZED;
    }

private:
    int set_pwm(uint8_t pin, uint16_t value);
    int set_pin(uint8_t pin, uint8_t value);

private:
    uint16_t     m_freq;
    int         m_state;
    PWMServo     m_pwm;

};

} // namespace robo
#endif /* MotorDriver_H__ */