123 lines
6.8 KiB
C++
123 lines
6.8 KiB
C++
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#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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// Variables
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//--------------------------------------------------
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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;
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float* motor_phases;
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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_mask, CalibrationType default_type = ANGULAR, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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MotorCluster(PIO pio, uint sm, uint pin_base, uint pin_count, CalibrationType default_type = ANGULAR, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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MotorCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, CalibrationType default_type = ANGULAR, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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MotorCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, CalibrationType default_type = ANGULAR, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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MotorCluster(PIO pio, uint sm, uint pin_mask, const Calibration& calibration, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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MotorCluster(PIO pio, uint sm, uint pin_base, uint pin_count, const Calibration& calibration, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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MotorCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, const Calibration& calibration, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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MotorCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, const Calibration& calibration, float freq = MotorState::DEFAULT_FREQUENCY, bool auto_phase = true, PWMCluster::Sequence *seq_buffer = nullptr, PWMCluster::TransitionData *dat_buffer = nullptr);
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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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uint8_t pin(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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float min_speed(uint8_t motor) const;
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float mid_speed(uint8_t motor) const;
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float max_speed(uint8_t motor) const;
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void to_min(uint8_t motor, bool load = true);
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void to_min(const uint8_t *motors, uint8_t length, bool load = true);
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void to_min(std::initializer_list<uint8_t> motors, bool load = true);
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void all_to_min(bool load = true);
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void to_mid(uint8_t motor, bool load = true);
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void to_mid(const uint8_t *motors, uint8_t length, bool load = true);
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void to_mid(std::initializer_list<uint8_t> motors, bool load = true);
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void all_to_mid(bool load = true);
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void to_max(uint8_t motor, bool load = true);
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void to_max(const uint8_t *motors, uint8_t length, bool load = true);
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void to_max(std::initializer_list<uint8_t> motors, bool load = true);
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void all_to_max(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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Calibration& calibration(uint8_t motor);
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const Calibration& calibration(uint8_t motor) const;
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void load();
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//--------------------------------------------------
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private:
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void apply_duty(uint8_t motor, float duty, bool load);
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void create_motor_states(CalibrationType default_type, bool auto_phase);
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void create_motor_states(const Calibration& calibration, bool auto_phase);
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};
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}
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