pimoroni-pico/drivers/motor/motor_cluster.hpp

171 wiersze
8.3 KiB
C++

#pragma once
#include "pico/stdlib.h"
#include "pwm_cluster.hpp"
#include "motor_state.hpp"
using namespace pimoroni;
namespace motor {
class MotorCluster {
//--------------------------------------------------
// Substructures
//--------------------------------------------------
private:
struct motor_config {
float phase;
DecayMode mode;
};
//--------------------------------------------------
// Variables
//--------------------------------------------------
public:
static const uint MAX_MOTOR_CHANNELS = 16;
private:
PWMCluster pwms;
uint32_t pwm_period;
float pwm_frequency;
MotorState states[MAX_MOTOR_CHANNELS];
motor_config configs[MAX_MOTOR_CHANNELS];
//--------------------------------------------------
// Constructors/Destructor
//--------------------------------------------------
public:
MotorCluster(PIO pio, uint sm, uint pin_base, uint pin_pair_count, Direction direction = NORMAL_DIR, float speed_scale = MotorState::DEFAULT_SPEED_SCALE,
float zeropoint = MotorState::DEFAULT_ZEROPOINT, float deadzone = MotorState::DEFAULT_DEADZONE, float freq = MotorState::DEFAULT_FREQUENCY, DecayMode mode = MotorState::DEFAULT_DECAY_MODE,
bool auto_phase = true);
MotorCluster(PIO pio, uint sm, const pin_pair *pin_pairs, uint32_t length, Direction direction = NORMAL_DIR, float speed_scale = MotorState::DEFAULT_SPEED_SCALE,
float zeropoint = MotorState::DEFAULT_ZEROPOINT, float deadzone = MotorState::DEFAULT_DEADZONE, float freq = MotorState::DEFAULT_FREQUENCY, DecayMode mode = MotorState::DEFAULT_DECAY_MODE,
bool auto_phase = true);
MotorCluster(PIO pio, uint sm, std::initializer_list<pin_pair> pin_pairs, Direction direction = NORMAL_DIR, float speed_scale = MotorState::DEFAULT_SPEED_SCALE,
float zeropoint = MotorState::DEFAULT_ZEROPOINT, float deadzone = MotorState::DEFAULT_DEADZONE, float freq = MotorState::DEFAULT_FREQUENCY, DecayMode mode = MotorState::DEFAULT_DECAY_MODE,
bool auto_phase = true);
~MotorCluster();
//--------------------------------------------------
// Methods
//--------------------------------------------------
public:
bool init();
uint8_t count() const;
pin_pair pins(uint8_t motor) const;
void enable(uint8_t motor, bool load = true);
void enable(const uint8_t *motors, uint8_t length, bool load = true);
void enable(std::initializer_list<uint8_t> motors, bool load = true);
void enable_all(bool load = true);
void disable(uint8_t motor, bool load = true);
void disable(const uint8_t *motors, uint8_t length, bool load = true);
void disable(std::initializer_list<uint8_t> motors, bool load = true);
void disable_all(bool load = true);
bool is_enabled(uint8_t motor) const;
float duty(uint8_t motor) const;
void duty(uint8_t motor, float duty, bool load = true);
void duty(const uint8_t *motors, uint8_t length, float duty, bool load = true);
void duty(std::initializer_list<uint8_t> motors, float duty, bool load = true);
void all_to_duty(float duty, bool load = true);
float speed(uint8_t motor) const;
void speed(uint8_t motor, float speed, bool load = true);
void speed(const uint8_t *motors, uint8_t length, float speed, bool load = true);
void speed(std::initializer_list<uint8_t> motors, float speed, bool load = true);
void all_to_speed(float speed, bool load = true);
float phase(uint8_t motor) const;
void phase(uint8_t motor, float phase, bool load = true);
void phase(const uint8_t *motors, uint8_t length, float phase, bool load = true);
void phase(std::initializer_list<uint8_t> motors, float phase, bool load = true);
void all_to_phase(float phase, bool load = true);
float frequency() const;
bool frequency(float freq);
//--------------------------------------------------
void stop(uint8_t motor, bool load = true);
void stop(const uint8_t *motors, uint8_t length, bool load = true);
void stop(std::initializer_list<uint8_t> motors, bool load = true);
void stop_all(bool load = true);
void coast(uint8_t motor, bool load = true);
void coast(const uint8_t *motors, uint8_t length, bool load = true);
void coast(std::initializer_list<uint8_t> motors, bool load = true);
void coast_all(bool load = true);
void brake(uint8_t motor, bool load = true);
void brake(const uint8_t *motors, uint8_t length, bool load = true);
void brake(std::initializer_list<uint8_t> motors, bool load = true);
void brake_all(bool load = true);
void full_negative(uint8_t motor, bool load = true);
void full_negative(const uint8_t *motors, uint8_t length, bool load = true);
void full_negative(std::initializer_list<uint8_t> motors, bool load = true);
void all_full_negative(bool load = true);
void full_positive(uint8_t motor, bool load = true);
void full_positive(const uint8_t *motors, uint8_t length, bool load = true);
void full_positive(std::initializer_list<uint8_t> motors, bool load = true);
void all_full_positive(bool load = true);
void to_percent(uint8_t motor, float in, float in_min = MotorState::ZERO_PERCENT, float in_max = MotorState::ONEHUNDRED_PERCENT, bool load = true);
void to_percent(const uint8_t *motors, uint8_t length, float in, float in_min = MotorState::ZERO_PERCENT, float in_max = MotorState::ONEHUNDRED_PERCENT, bool load = true);
void to_percent(std::initializer_list<uint8_t> motors, float in, float in_min = MotorState::ZERO_PERCENT, float in_max = MotorState::ONEHUNDRED_PERCENT, bool load = true);
void all_to_percent(float in, float in_min = MotorState::ZERO_PERCENT, float in_max = MotorState::ONEHUNDRED_PERCENT, bool load = true);
void to_percent(uint8_t motor, float in, float in_min, float in_max, float speed_min, float speed_max, bool load = true);
void to_percent(const uint8_t *motors, uint8_t length, float in, float in_min, float in_max, float speed_min, float speed_max, bool load = true);
void to_percent(std::initializer_list<uint8_t> motors, float in, float in_min, float in_max, float speed_min, float speed_max, bool load = true);
void all_to_percent(float in, float in_min, float in_max, float speed_min, float speed_max, bool load = true);
void load();
//--------------------------------------------------
Direction direction(uint8_t motor) const;
void direction(uint8_t motor, Direction direction);
void direction(const uint8_t *motors, uint8_t length, Direction direction);
void direction(std::initializer_list<uint8_t> motors, Direction direction);
void all_directions(Direction direction);
float speed_scale(uint8_t motor) const;
void speed_scale(uint8_t motor, float speed_scale);
void speed_scale(const uint8_t *motors, uint8_t length, float speed_scale);
void speed_scale(std::initializer_list<uint8_t> motors, float speed_scale);
void all_speed_scales(float speed_scale);
float zeropoint(uint8_t motor) const;
void zeropoint(uint8_t motor, float zeropoint, bool load = true);
void zeropoint(const uint8_t *motors, uint8_t length, float zeropoint, bool load = true);
void zeropoint(std::initializer_list<uint8_t> motors, float zeropoint, bool load = true);
void all_zeropoints(float zeropoint, bool load = true);
float deadzone(uint8_t motor) const;
void deadzone(uint8_t motor, float deadzone, bool load = true);
void deadzone(const uint8_t *motors, uint8_t length, float deadzone, bool load = true);
void deadzone(std::initializer_list<uint8_t> motors, float deadzone, bool load = true);
void all_deadzones(float deadzone, bool load = true);
DecayMode decay_mode(uint8_t motor) const;
void decay_mode(uint8_t motor, DecayMode mode, bool load = true);
void decay_mode(const uint8_t *motors, uint8_t length, DecayMode mode, bool load = true);
void decay_mode(std::initializer_list<uint8_t> motors, DecayMode mode, bool load = true);
void all_decay_modes(DecayMode mode, bool load = true);
//--------------------------------------------------
private:
void apply_duty(uint8_t motor, float duty, DecayMode mode, bool load);
void create_motor_states(Direction direction, float speed_scale, float zeropoint,
float deadzone, DecayMode mode, bool auto_phase);
};
}