holitdata-motormux.h File Reference

Holit Data Systems Motor MUX driver. More...

#include "common.h"
#include "common-MMUX.h"

Go to the source code of this file.

Defines
#define	HDMMUX_I2C_ADDR   0x02
#define	HDMMUX_CMD_MOTOR   0x01
#define	HDMMUX_CMD_ADDRCHNG   0x02
#define	HDMMUX_CMD_RST_TACH_A   0x03
#define	HDMMUX_CMD_RST_TACH_B   0x04
#define	HDMMUX_CMD_RST_TACH_C   0x05
#define	HDMMUX_MOTOR_A   0x01
#define	HDMMUX_MOTOR_B   0x02
#define	HDMMUX_MOTOR_C   0x03
#define	HDMMUX_MOTOR_OTHER   0x04
#define	HDMMUX_MOTOR_RIGHT   0x02
#define	HDMMUX_MOTOR_LEFT   0x00
#define	HDMMUX_ROT_FORWARD   (0x01 << 6)
#define	HDMMUX_ROT_REVERSE   (0x02 << 6)
#define	HDMMUX_ROT_STOP   (0x03 << 6)
#define	HDMMUX_ROT_CONSTSPEED   (0x01 << 4)
#define	HDMMUX_ROT_RAMPUP   (0x02 << 4)
#define	HDMMUX_ROT_RAMPDOWN   (0x03 << 4)
#define	HDMMUX_ROT_UNLIMITED   (0x00 << 2)
#define	HDMMUX_ROT_DEGREES   (0x01 << 2)
#define	HDMMUX_ROT_ROTATIONS   (0x02 << 2)
#define	HDMMUX_ROT_SECONDS   (0x03 << 2)
#define	HDMMUX_ROT_POWERCONTROL   (0x01 << 1)
#define	HDMMUX_ROT_BRAKE   0x01
#define	HDMMUX_ROT_FLOAT   0x00
Functions
void	HDMMUXinit ()
bool	HDMMUXreadStatus (tSensors link, ubyte &motorStatus, long &tachoA, long &tachoB, long &tachoC)
bool	HDMMUXsendCommand (tSensors link, ubyte mode, ubyte channel, ubyte rotparams, long duration, byte power, byte steering)
bool	HDMMotor (tMUXmotor muxmotor, byte power)
bool	HDMotorStop (tMUXmotor muxmotor)
bool	HDMotorStop (tMUXmotor muxmotor, bool brake)
void	HDMMotorSetRotationTarget (tMUXmotor muxmotor, float rottarget)
void	HDMMotorSetTimeTarget (tMUXmotor muxmotor, float timetarget)
void	HDMMotorSetEncoderTarget (tMUXmotor muxmotor, long enctarget)
long	HDMMotorEncoder (tMUXmotor muxmotor)
bool	HDMMotorEncoderReset (tMUXmotor muxmotor)
bool	HDMMotorEncoderResetAll (tSensors link)
bool	HDMMotorBusy (tMUXmotor muxmotor)
void	HDMMotorSetBrake (tMUXmotor muxmotor)
void	HDMMotorSetFloat (tMUXmotor muxmotor)
void	HDMMotorSetSpeedCtrl (tMUXmotor muxmotor, bool constspeed)
void	HDMMotorSetRamping (tMUXmotor muxmotor, ubyte ramping)
Variables
tByteArray	HDMMUX_I2CRequest
tByteArray	HDMMUX_I2CReply

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Detailed Description

Holit Data Systems Motor MUX driver.

holitdata-motormux.h provides an API for the Holit Data Systems Motor MUX.

Changelog:

• 0.1: Initial release
• 0.2: Replaced array structs with typedefs
  Uses new split off include file MMUX-common.h

Credits:

• Big thanks to Holit Data Systems for providing me with the hardware necessary to write and test this.
• Thanks to Cheh from Holit Data Systems for the extensive testing and subsequent bug reports :)

TODO:

• Add support for multiple MUXes per sensor port
• Ramping up and down of motors

License: You may use this code as you wish, provided you give credit where its due.

THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER.

Author:

Xander Soldaat (xander_at_botbench.com)

Date:

20 February 2011

Version:

0.2

Definition in file holitdata-motormux.h.