dc_motors.h

Go to the documentation of this file.

/**
 * @file dc_motors.h
 *
 * @date March 3, 2020
 * @author Matthew Kennedy (c) 2020
 */
 
#pragma once
 
#include "dc_motor.h"
 
#include <cstddef>
 
DcMotor* initDcMotor(const char *disPinMsg, const dc_io& io, size_t index, bool useTwoWires);
DcMotor* initDcMotor(brain_pin_e coil_p, brain_pin_e coil_m, size_t index);
 
// Manual control of motors for use by console commands
void setDcMotorFrequency(size_t index, int hz);
void setDcMotorDuty(size_t index, float duty);
 
void showDcMotorInfo(int i);
 
// Simple wrapper to use an OutputPin as "PWM" that can only do 0 or 1
struct PwmWrapper : public IPwm {
    OutputPin& m_pin;
 
    PwmWrapper(OutputPin& pin) : m_pin(pin) { }
 
    void setSimplePwmDutyCycle(float dutyCycle) override {
        m_pin.setValue(dutyCycle > 0.5f);
    }
};
 
class DcHardware {
private:
    OutputPin m_pinEnable;
    OutputPin m_pinDir1;
    OutputPin m_pinDir2;
    OutputPin m_disablePin;
 
    PwmWrapper wrappedEnable{m_pinEnable};
    PwmWrapper wrappedDir1{m_pinDir1};
    PwmWrapper wrappedDir2{m_pinDir2};
 
    SimplePwm m_pwm1;
    SimplePwm m_pwm2;
 
    bool isStarted = false;
public:
 
    DcHardware() : dcMotor(m_disablePin) {}
 
    void start(bool useTwoWires,
                brain_pin_e pinEnable,
                brain_pin_e pinDir1,
                brain_pin_e pinDir2,
                const char *disPinMsg,
                brain_pin_e pinDisable,
                bool isInverted,
                Scheduler* executor,
                int frequency);
 
    TwoPinDcMotor dcMotor;
 
    void setFrequency(int frequency) {
        m_pwm1.setFrequency(frequency);
        m_pwm2.setFrequency(frequency);
    }
 
    const char *msg() {
        return dcMotor.msg();
    }
 
    void stop() {
        // todo: replace 'isStarted' with 'stop'
    }
};
 
DcHardware *getPrimaryDCHardwareForLogging();