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auto-plow / 8b944c9

A wheelchair motor-propelled battery-powered ESP32-driven remote control snow plow.

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4418 Jan 2019 20:218c4a05dRoboClaw HeaderJoshua12540N

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1#ifndef RoboClaw_h
2#define RoboClaw_h
3
4#include <stdarg.h>
5
6#include <inttypes.h>
7#include <Stream.h>
8#include <HardwareSerial.h>
9#ifdef __AVR__
10 #include <SoftwareSerial.h>
11#endif
12
13/******************************************************************************
14* Definitions
15******************************************************************************/
16
17#define _RC_VERSION 10 // software version of this library
18#ifndef GCC_VERSION
19#define GCC_VERSION (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__)
20#endif
21
22#define _SS_VERSION 16
23
24class RoboClaw : public Stream
25{
26 uint16_t crc;
27 uint32_t timeout;
28
29 HardwareSerial *hserial;
30#ifdef __AVR__
31 SoftwareSerial *sserial;
32#endif
33
34 enum {M1FORWARD = 0,
35 M1BACKWARD = 1,
36 SETMINMB = 2,
37 SETMAXMB = 3,
38 M2FORWARD = 4,
39 M2BACKWARD = 5,
40 M17BIT = 6,
41 M27BIT = 7,
42 MIXEDFORWARD = 8,
43 MIXEDBACKWARD = 9,
44 MIXEDRIGHT = 10,
45 MIXEDLEFT = 11,
46 MIXEDFB = 12,
47 MIXEDLR = 13,
48 GETM1ENC = 16,
49 GETM2ENC = 17,
50 GETM1SPEED = 18,
51 GETM2SPEED = 19,
52 RESETENC = 20,
53 GETVERSION = 21,
54 SETM1ENCCOUNT = 22,
55 SETM2ENCCOUNT = 23,
56 GETMBATT = 24,
57 GETLBATT = 25,
58 SETMINLB = 26,
59 SETMAXLB = 27,
60 SETM1PID = 28,
61 SETM2PID = 29,
62 GETM1ISPEED = 30,
63 GETM2ISPEED = 31,
64 M1DUTY = 32,
65 M2DUTY = 33,
66 MIXEDDUTY = 34,
67 M1SPEED = 35,
68 M2SPEED = 36,
69 MIXEDSPEED = 37,
70 M1SPEEDACCEL = 38,
71 M2SPEEDACCEL = 39,
72 MIXEDSPEEDACCEL = 40,
73 M1SPEEDDIST = 41,
74 M2SPEEDDIST = 42,
75 MIXEDSPEEDDIST = 43,
76 M1SPEEDACCELDIST = 44,
77 M2SPEEDACCELDIST = 45,
78 MIXEDSPEEDACCELDIST = 46,
79 GETBUFFERS = 47,
80 GETPWMS = 48,
81 GETCURRENTS = 49,
82 MIXEDSPEED2ACCEL = 50,
83 MIXEDSPEED2ACCELDIST = 51,
84 M1DUTYACCEL = 52,
85 M2DUTYACCEL = 53,
86 MIXEDDUTYACCEL = 54,
87 READM1PID = 55,
88 READM2PID = 56,
89 SETMAINVOLTAGES = 57,
90 SETLOGICVOLTAGES = 58,
91 GETMINMAXMAINVOLTAGES = 59,
92 GETMINMAXLOGICVOLTAGES = 60,
93 SETM1POSPID = 61,
94 SETM2POSPID = 62,
95 READM1POSPID = 63,
96 READM2POSPID = 64,
97 M1SPEEDACCELDECCELPOS = 65,
98 M2SPEEDACCELDECCELPOS = 66,
99 MIXEDSPEEDACCELDECCELPOS = 67,
100 SETM1DEFAULTACCEL = 68,
101 SETM2DEFAULTACCEL = 69,
102 SETPINFUNCTIONS = 74,
103 GETPINFUNCTIONS = 75,
104 SETDEADBAND = 76,
105 GETDEADBAND = 77,
106 GETENCODERS = 78,
107 GETISPEEDS = 79,
108 RESTOREDEFAULTS = 80,
109 GETTEMP = 82,
110 GETTEMP2 = 83, //Only valid on some models
111 GETERROR = 90,
112 GETENCODERMODE = 91,
113 SETM1ENCODERMODE = 92,
114 SETM2ENCODERMODE = 93,
115 WRITENVM = 94,
116 READNVM = 95, //Reloads values from Flash into Ram
117 SETCONFIG = 98,
118 GETCONFIG = 99,
119 SETM1MAXCURRENT = 133,
120 SETM2MAXCURRENT = 134,
121 GETM1MAXCURRENT = 135,
122 GETM2MAXCURRENT = 136,
123 SETPWMMODE = 148,
124 GETPWMMODE = 149,
125 FLAGBOOTLOADER = 255}; //Only available via USB communications
126public:
127 // public methods
128 RoboClaw(HardwareSerial *hserial,uint32_t tout);
129#ifdef __AVR__
130 RoboClaw(SoftwareSerial *sserial,uint32_t tout);
131#endif
132
133 ~RoboClaw();
134
135 bool ForwardM1(uint8_t address, uint8_t speed);
136 bool BackwardM1(uint8_t address, uint8_t speed);
137 bool SetMinVoltageMainBattery(uint8_t address, uint8_t voltage);
138 bool SetMaxVoltageMainBattery(uint8_t address, uint8_t voltage);
139 bool ForwardM2(uint8_t address, uint8_t speed);
140 bool BackwardM2(uint8_t address, uint8_t speed);
141 bool ForwardBackwardM1(uint8_t address, uint8_t speed);
142 bool ForwardBackwardM2(uint8_t address, uint8_t speed);
143 bool ForwardMixed(uint8_t address, uint8_t speed);
144 bool BackwardMixed(uint8_t address, uint8_t speed);
145 bool TurnRightMixed(uint8_t address, uint8_t speed);
146 bool TurnLeftMixed(uint8_t address, uint8_t speed);
147 bool ForwardBackwardMixed(uint8_t address, uint8_t speed);
148 bool LeftRightMixed(uint8_t address, uint8_t speed);
149 uint32_t ReadEncM1(uint8_t address, uint8_t *status=NULL,bool *valid=NULL);
150 uint32_t ReadEncM2(uint8_t address, uint8_t *status=NULL,bool *valid=NULL);
151 bool SetEncM1(uint8_t address, int32_t val);
152 bool SetEncM2(uint8_t address, int32_t val);
153 uint32_t ReadSpeedM1(uint8_t address, uint8_t *status=NULL,bool *valid=NULL);
154 uint32_t ReadSpeedM2(uint8_t address, uint8_t *status=NULL,bool *valid=NULL);
155 bool ResetEncoders(uint8_t address);
156 bool ReadVersion(uint8_t address,char *version);
157 uint16_t ReadMainBatteryVoltage(uint8_t address,bool *valid=NULL);
158 uint16_t ReadLogicBatteryVoltage(uint8_t address,bool *valid=NULL);
159 bool SetMinVoltageLogicBattery(uint8_t address, uint8_t voltage);
160 bool SetMaxVoltageLogicBattery(uint8_t address, uint8_t voltage);
161 bool SetM1VelocityPID(uint8_t address, float Kp, float Ki, float Kd, uint32_t qpps);
162 bool SetM2VelocityPID(uint8_t address, float Kp, float Ki, float Kd, uint32_t qpps);
163 uint32_t ReadISpeedM1(uint8_t address,uint8_t *status=NULL,bool *valid=NULL);
164 uint32_t ReadISpeedM2(uint8_t address,uint8_t *status=NULL,bool *valid=NULL);
165 bool DutyM1(uint8_t address, uint16_t duty);
166 bool DutyM2(uint8_t address, uint16_t duty);
167 bool DutyM1M2(uint8_t address, uint16_t duty1, uint16_t duty2);
168 bool SpeedM1(uint8_t address, uint32_t speed);
169 bool SpeedM2(uint8_t address, uint32_t speed);
170 bool SpeedM1M2(uint8_t address, uint32_t speed1, uint32_t speed2);
171 bool SpeedAccelM1(uint8_t address, uint32_t accel, uint32_t speed);
172 bool SpeedAccelM2(uint8_t address, uint32_t accel, uint32_t speed);
173 bool SpeedAccelM1M2(uint8_t address, uint32_t accel, uint32_t speed1, uint32_t speed2);
174 bool SpeedDistanceM1(uint8_t address, uint32_t speed, uint32_t distance, uint8_t flag=0);
175 bool SpeedDistanceM2(uint8_t address, uint32_t speed, uint32_t distance, uint8_t flag=0);
176 bool SpeedDistanceM1M2(uint8_t address, uint32_t speed1, uint32_t distance1, uint32_t speed2, uint32_t distance2, uint8_t flag=0);
177 bool SpeedAccelDistanceM1(uint8_t address, uint32_t accel, uint32_t speed, uint32_t distance, uint8_t flag=0);
178 bool SpeedAccelDistanceM2(uint8_t address, uint32_t accel, uint32_t speed, uint32_t distance, uint8_t flag=0);
179 bool SpeedAccelDistanceM1M2(uint8_t address, uint32_t accel, uint32_t speed1, uint32_t distance1, uint32_t speed2, uint32_t distance2, uint8_t flag=0);
180 bool ReadBuffers(uint8_t address, uint8_t &depth1, uint8_t &depth2);
181 bool ReadPWMs(uint8_t address, int16_t &pwm1, int16_t &pwm2);
182 bool ReadCurrents(uint8_t address, int16_t &current1, int16_t &current2);
183 bool SpeedAccelM1M2_2(uint8_t address, uint32_t accel1, uint32_t speed1, uint32_t accel2, uint32_t speed2);
184 bool SpeedAccelDistanceM1M2_2(uint8_t address, uint32_t accel1, uint32_t speed1, uint32_t distance1, uint32_t accel2, uint32_t speed2, uint32_t distance2, uint8_t flag=0);
185 bool DutyAccelM1(uint8_t address, uint16_t duty, uint32_t accel);
186 bool DutyAccelM2(uint8_t address, uint16_t duty, uint32_t accel);
187 bool DutyAccelM1M2(uint8_t address, uint16_t duty1, uint32_t accel1, uint16_t duty2, uint32_t accel2);
188 bool ReadM1VelocityPID(uint8_t address,float &Kp_fp,float &Ki_fp,float &Kd_fp,uint32_t &qpps);
189 bool ReadM2VelocityPID(uint8_t address,float &Kp_fp,float &Ki_fp,float &Kd_fp,uint32_t &qpps);
190 bool SetMainVoltages(uint8_t address,uint16_t min,uint16_t max);
191 bool SetLogicVoltages(uint8_t address,uint16_t min,uint16_t max);
192 bool ReadMinMaxMainVoltages(uint8_t address,uint16_t &min,uint16_t &max);
193 bool ReadMinMaxLogicVoltages(uint8_t address,uint16_t &min,uint16_t &max);
194 bool SetM1PositionPID(uint8_t address,float kp,float ki,float kd,uint32_t kiMax,uint32_t deadzone,uint32_t min,uint32_t max);
195 bool SetM2PositionPID(uint8_t address,float kp,float ki,float kd,uint32_t kiMax,uint32_t deadzone,uint32_t min,uint32_t max);
196 bool ReadM1PositionPID(uint8_t address,float &Kp,float &Ki,float &Kd,uint32_t &KiMax,uint32_t &DeadZone,uint32_t &Min,uint32_t &Max);
197 bool ReadM2PositionPID(uint8_t address,float &Kp,float &Ki,float &Kd,uint32_t &KiMax,uint32_t &DeadZone,uint32_t &Min,uint32_t &Max);
198 bool SpeedAccelDeccelPositionM1(uint8_t address,uint32_t accel,uint32_t speed,uint32_t deccel,uint32_t position,uint8_t flag);
199 bool SpeedAccelDeccelPositionM2(uint8_t address,uint32_t accel,uint32_t speed,uint32_t deccel,uint32_t position,uint8_t flag);
200 bool SpeedAccelDeccelPositionM1M2(uint8_t address,uint32_t accel1,uint32_t speed1,uint32_t deccel1,uint32_t position1,uint32_t accel2,uint32_t speed2,uint32_t deccel2,uint32_t position2,uint8_t flag);
201 bool SetM1DefaultAccel(uint8_t address, uint32_t accel);
202 bool SetM2DefaultAccel(uint8_t address, uint32_t accel);
203 bool SetPinFunctions(uint8_t address, uint8_t S3mode, uint8_t S4mode, uint8_t S5mode);
204 bool GetPinFunctions(uint8_t address, uint8_t &S3mode, uint8_t &S4mode, uint8_t &S5mode);
205 bool SetDeadBand(uint8_t address, uint8_t Min, uint8_t Max);
206 bool GetDeadBand(uint8_t address, uint8_t &Min, uint8_t &Max);
207 bool ReadEncoders(uint8_t address,uint32_t &enc1,uint32_t &enc2);
208 bool ReadISpeeds(uint8_t address,uint32_t &ispeed1,uint32_t &ispeed2);
209 bool RestoreDefaults(uint8_t address);
210 bool ReadTemp(uint8_t address, uint16_t &temp);
211 bool ReadTemp2(uint8_t address, uint16_t &temp);
212 uint16_t ReadError(uint8_t address,bool *valid=NULL);
213 bool ReadEncoderModes(uint8_t address, uint8_t &M1mode, uint8_t &M2mode);
214 bool SetM1EncoderMode(uint8_t address,uint8_t mode);
215 bool SetM2EncoderMode(uint8_t address,uint8_t mode);
216 bool WriteNVM(uint8_t address);
217 bool ReadNVM(uint8_t address);
218 bool SetConfig(uint8_t address, uint16_t config);
219 bool GetConfig(uint8_t address, uint16_t &config);
220 bool SetM1MaxCurrent(uint8_t address,uint32_t max);
221 bool SetM2MaxCurrent(uint8_t address,uint32_t max);
222 bool ReadM1MaxCurrent(uint8_t address,uint32_t &max);
223 bool ReadM2MaxCurrent(uint8_t address,uint32_t &max);
224 bool SetPWMMode(uint8_t address, uint8_t mode);
225 bool GetPWMMode(uint8_t address, uint8_t &mode);
226
227 static int16_t library_version() { return _SS_VERSION; }
228
229 virtual int available();
230 void begin(long speed);
231 bool isListening();
232 bool overflow();
233 int peek();
234 virtual int read();
235 int read(uint32_t timeout);
236 bool listen();
237 virtual size_t write(uint8_t byte);
238 virtual void flush();
239 void clear();
240
241private:
242 void crc_clear();
243 void crc_update (uint8_t data);
244 uint16_t crc_get();
245 bool write_n(uint8_t byte,...);
246 bool read_n(uint8_t byte,uint8_t address,uint8_t cmd,...);
247 uint32_t Read4_1(uint8_t address,uint8_t cmd,uint8_t *status,bool *valid);
248 uint32_t Read4(uint8_t address,uint8_t cmd,bool *valid);
249 uint16_t Read2(uint8_t address,uint8_t cmd,bool *valid);
250 uint8_t Read1(uint8_t address,uint8_t cmd,bool *valid);
251
252};
253
254#endif
255