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