| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | /** | |||
| 2 | * @file dc_motors.h | |||
| 3 | * | |||
| 4 | * @date March 3, 2020 | |||
| 5 | * @author Matthew Kennedy (c) 2020 | |||
| 6 | */ | |||
| 7 | ||||
| 8 | #pragma once | |||
| 9 | ||||
| 10 | #include "dc_motor.h" | |||
| 11 | ||||
| 12 | #include <cstddef> | |||
| 13 | ||||
| 14 | DcMotor* initDcMotor(const char *disPinMsg, const dc_io& io, size_t index, bool useTwoWires); | |||
| 15 | DcMotor* initDcMotor(brain_pin_e coil_p, brain_pin_e coil_m, size_t index); | |||
| 16 | ||||
| 17 | // Manual control of motors for use by console commands | |||
| 18 | void setDcMotorFrequency(size_t index, int hz); | |||
| 19 | void setDcMotorDuty(size_t index, float duty); | |||
| 20 | ||||
| 21 | void showDcMotorInfo(int i); | |||
| 22 | ||||
| 23 | // Simple wrapper to use an OutputPin as "PWM" that can only do 0 or 1 | |||
| 24 | struct PwmWrapper : public IPwm { | |||
| 25 | OutputPin& m_pin; | |||
| 26 | ||||
| 27 | 12 | PwmWrapper(OutputPin& pin) : m_pin(pin) { } | ||
| 28 | ||||
| 29 | 412 | void setSimplePwmDutyCycle(float dutyCycle) override { | ||
| 30 | 412 | m_pin.setValue(dutyCycle > 0.5f); | ||
| 31 | 412 | } | ||
| 32 | }; | |||
| 33 | ||||
| 34 | class DcHardware { | |||
| 35 | private: | |||
| 36 | OutputPin m_pinEnable; | |||
| 37 | OutputPin m_pinDir1; | |||
| 38 | OutputPin m_pinDir2; | |||
| 39 | OutputPin m_disablePin; | |||
| 40 | ||||
| 41 | PwmWrapper wrappedEnable{m_pinEnable}; | |||
| 42 | PwmWrapper wrappedDir1{m_pinDir1}; | |||
| 43 | PwmWrapper wrappedDir2{m_pinDir2}; | |||
| 44 | ||||
| 45 | SimplePwm m_pwm1; | |||
| 46 | SimplePwm m_pwm2; | |||
| 47 | ||||
| 48 | bool isStarted = false; | |||
| 49 | public: | |||
| 50 | ||||
| 51 | 4 | DcHardware() : dcMotor(m_disablePin) {} | ||
| 52 | ||||
| 53 | void start(bool useTwoWires, | |||
| 54 | brain_pin_e pinEnable, | |||
| 55 | brain_pin_e pinDir1, | |||
| 56 | brain_pin_e pinDir2, | |||
| 57 | const char *disPinMsg, | |||
| 58 | brain_pin_e pinDisable, | |||
| 59 | bool isInverted, | |||
| 60 | Scheduler* executor, | |||
| 61 | int frequency); | |||
| 62 | ||||
| 63 | TwoPinDcMotor dcMotor; | |||
| 64 | ||||
| 65 | ✗ | void setFrequency(int frequency) { | ||
| 66 | ✗ | m_pwm1.setFrequency(frequency); | ||
| 67 | ✗ | m_pwm2.setFrequency(frequency); | ||
| 68 | ✗ | } | ||
| 69 | ||||
| 70 | 522954 | const char *msg() { | ||
| 71 | 522954 | return dcMotor.msg(); | ||
| 72 | } | |||
| 73 | ||||
| 74 | void stop() { | |||
| 75 | // todo: replace 'isStarted' with 'stop' | |||
| 76 | } | |||
| 77 | }; | |||
| 78 | ||||
| 79 | DcHardware *getPrimaryDCHardwareForLogging(); | |||
| 80 |