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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file RoboClas.hpp
*
* RoboClaw Motor Driver
*
* references:
* http://downloads.orionrobotics.com/downloads/datasheets/motor_controller_robo_claw_R0401.pdf
*
*/
#pragma once
#include <poll.h>
#include <stdio.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <drivers/device/i2c.h>
/**
* This is a driver for the RoboClaw motor controller
*/
class RoboClaw
{
public:
/** control channels */
enum e_channel {
CH_VOLTAGE_LEFT = 0,
CH_VOLTAGE_RIGHT
};
/** motors */
enum e_motor {
MOTOR_1 = 0,
MOTOR_2
};
/**
* constructor
* @param deviceName the name of the
* serial port e.g. "/dev/ttyS2"
* @param address the adddress of the motor
* (selectable on roboclaw)
* @param pulsesPerRev # of encoder
* pulses per revolution of wheel
*/
RoboClaw(const char *deviceName, uint16_t address,
uint16_t pulsesPerRev);
/**
* deconstructor
*/
virtual ~RoboClaw();
/**
* @return position of a motor, rev
*/
float getMotorPosition(e_motor motor);
/**
* @return speed of a motor, rev/sec
*/
float getMotorSpeed(e_motor motor);
/**
* set the speed of a motor, rev/sec
*/
int setMotorSpeed(e_motor motor, float value);
/**
* set the duty cycle of a motor, rev/sec
*/
int setMotorDutyCycle(e_motor motor, float value);
/**
* reset the encoders
* @return status
*/
int resetEncoders();
/**
* main update loop that updates RoboClaw motor
* dutycycle based on actuator publication
*/
int update();
/**
* read data from serial
*/
int readEncoder(e_motor motor);
/**
* print status
*/
void printStatus(char *string, size_t n);
private:
// Quadrature status flags
enum e_quadrature_status_flags {
STATUS_UNDERFLOW = 1 << 0, /**< encoder went below 0 **/
STATUS_REVERSE = 1 << 1, /**< motor doing in reverse dir **/
STATUS_OVERFLOW = 1 << 2, /**< encoder went above 2^32 **/
};
// commands
// We just list the commands we want from the manual here.
enum e_command {
// simple
CMD_DRIVE_FWD_1 = 0,
CMD_DRIVE_REV_1 = 1,
CMD_DRIVE_FWD_2 = 4,
CMD_DRIVE_REV_2 = 5,
// encoder commands
CMD_READ_ENCODER_1 = 16,
CMD_READ_ENCODER_2 = 17,
CMD_RESET_ENCODERS = 20,
// advanced motor control
CMD_READ_SPEED_HIRES_1 = 30,
CMD_READ_SPEED_HIRES_2 = 31,
CMD_SIGNED_DUTYCYCLE_1 = 32,
CMD_SIGNED_DUTYCYCLE_2 = 33,
};
static uint8_t checksum_mask;
uint16_t _address;
uint16_t _pulsesPerRev;
int _uart;
/** poll structure for control packets */
struct pollfd _controlPoll;
/** actuator controls subscription */
uORB::Subscription<actuator_controls_s> _actuators;
// private data
float _motor1Position;
float _motor1Speed;
int16_t _motor1Overflow;
float _motor2Position;
float _motor2Speed;
int16_t _motor2Overflow;
// private methods
uint16_t _sumBytes(uint8_t * buf, size_t n);
int _sendCommand(e_command cmd, uint8_t * data, size_t n_data, uint16_t & prev_sum);
};
// unit testing
int roboclawTest(const char *deviceName, uint8_t address,
uint16_t pulsesPerRev);
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
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