103 lines
2.5 KiB
C++
103 lines
2.5 KiB
C++
/******************************************************************
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This is the library for the Adafruit Motor Shield V2 for Arduino.
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It supports DC motors & Stepper motors with microstepping as well
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as stacking-support. It is *not* compatible with the V1 library!
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It will only work with https://www.adafruit.com/products/1483
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Adafruit invests time and resources providing this open
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source code, please support Adafruit and open-source hardware
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by purchasing products from Adafruit!
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Written by Limor Fried/Ladyada for Adafruit Industries.
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BSD license, check license.txt for more information.
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All text above must be included in any redistribution.
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******************************************************************/
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#ifndef _Adafruit_MotorShield_h_
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#define _Adafruit_MotorShield_h_
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#include <inttypes.h>
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#include <Wire.h>
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#include "utility/Adafruit_PWMServoDriver.h"
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//#define MOTORDEBUG
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#define MICROSTEPS 16 // 8 or 16
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#define MOTOR1_A 2
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#define MOTOR1_B 3
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#define MOTOR2_A 1
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#define MOTOR2_B 4
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#define MOTOR4_A 0
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#define MOTOR4_B 6
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#define MOTOR3_A 5
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#define MOTOR3_B 7
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#define FORWARD 1
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#define BACKWARD 2
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#define BRAKE 3
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#define RELEASE 4
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#define SINGLE 1
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#define DOUBLE 2
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#define INTERLEAVE 3
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#define MICROSTEP 4
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class Adafruit_MotorShield;
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class Adafruit_DCMotor
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{
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public:
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Adafruit_DCMotor(void);
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friend class Adafruit_MotorShield;
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void run(uint8_t);
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void setSpeed(uint8_t);
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private:
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uint8_t PWMpin, IN1pin, IN2pin;
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Adafruit_MotorShield *MC;
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uint8_t motornum;
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};
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class Adafruit_StepperMotor {
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public:
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Adafruit_StepperMotor(void);
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friend class Adafruit_MotorShield;
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void step(uint16_t steps, uint8_t dir, uint8_t style = SINGLE);
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void setSpeed(uint16_t);
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uint8_t onestep(uint8_t dir, uint8_t style);
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void release(void);
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uint32_t usperstep, steppingcounter;
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private:
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uint8_t PWMApin, AIN1pin, AIN2pin;
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uint8_t PWMBpin, BIN1pin, BIN2pin;
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uint16_t revsteps; // # steps per revolution
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uint8_t currentstep;
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Adafruit_MotorShield *MC;
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uint8_t steppernum;
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};
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class Adafruit_MotorShield
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{
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public:
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Adafruit_MotorShield(uint8_t addr = 0x60);
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friend class Adafruit_DCMotor;
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void begin(uint16_t freq = 1600);
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void setPWM(uint8_t pin, uint16_t val);
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void setPin(uint8_t pin, boolean val);
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Adafruit_DCMotor *getMotor(uint8_t n);
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Adafruit_StepperMotor *getStepper(uint16_t steps, uint8_t n);
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private:
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uint8_t _addr;
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uint16_t _freq;
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Adafruit_DCMotor dcmotors[4];
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Adafruit_StepperMotor steppers[2];
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Adafruit_PWMServoDriver _pwm;
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};
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#endif
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