// Adafruit Motor shield library
// copyright Adafruit Industries LLC, 2009
// this code is public domain, enjoy!
#ifndef _AFMotor_h_
#define _AFMotor_h_
#include <inttypes.h>
#if defined(__AVR__)
#include <avr/io.h>
//#define MOTORDEBUG 1
#define MICROSTEPS 16 // 8 or 16
#define MOTOR12_64KHZ _BV(CS20) // no prescale
#define MOTOR12_8KHZ _BV(CS21) // divide by 8
#define MOTOR12_2KHZ _BV(CS21) | _BV(CS20) // divide by 32
#define MOTOR12_1KHZ _BV(CS22) // divide by 64
#define MOTOR34_64KHZ _BV(CS00) // no prescale
#define MOTOR34_8KHZ _BV(CS01) // divide by 8
#define MOTOR34_1KHZ _BV(CS01) | _BV(CS00) // divide by 64
#elif defined(__arm__)
#include <avr/io.h>
//#define MOTORDEBUG 1
// I'm fairly certain these are wrong! - Mark
#define MICROSTEPS 16 // 8 or 16
#define MOTOR12_64KHZ 1 // no prescale
#define MOTOR12_8KHZ 8 // divide by 8
#define MOTOR12_2KHZ 32 // divide by 32
#define MOTOR12_1KHZ 64 // divide by 64
#define MOTOR34_64KHZ 1 // no prescale
#define MOTOR34_8KHZ 8 // divide by 8
#define MOTOR34_1KHZ 64 // divide by 64*/
#endif
#define MOTOR1_A 2
#define MOTOR1_B 3
#define MOTOR2_A 1
#define MOTOR2_B 4
#define MOTOR4_A 0
#define MOTOR4_B 6
#define MOTOR3_A 5
#define MOTOR3_B 7
#define FORWARD 1
#define BACKWARD 2
#define BRAKE 3
#define RELEASE 4
#define SINGLE 1
#define DOUBLE 2
#define INTERLEAVE 3
#define MICROSTEP 4
/*
#define LATCH 4
#define LATCH_DDR DDRB
#define LATCH_PORT PORTB
#define CLK_PORT PORTD
#define CLK_DDR DDRD
#define CLK 4
#define ENABLE_PORT PORTD
#define ENABLE_DDR DDRD
#define ENABLE 7
#define SER 0
#define SER_DDR DDRB
#define SER_PORT PORTB
*/
// Arduino pin names
#define MOTORLATCH 12
#define MOTORCLK 4
#define MOTORENABLE 7
#define MOTORDATA 8
// Arduino pins used for PWM
// [url]https://github.com/adafruit/Adafruit-Motor-Shield-for-Arduino/raw/master/mshieldv12schem.png[/url]
#define MOTOR_PWM0A 6
#define MOTOR_PWM0B 5
#define MOTOR_PWM1A 9
#define MOTOR_PWM1B 10
#define MOTOR_PWM2A 11
#define MOTOR_PWM2B 3
#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega48__) || defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
#define AFMOTOR_PWM1_USE_OC2A
#define AFMOTOR_PWM2_USE_OC2B
#define AFMOTOR_PWM3_USE_OC0A
#define AFMOTOR_PWM4_USE_OC0B
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AFMOTOR_PWM1_USE_OC1A
#define AFMOTOR_PWM2_USE_OC3C
#define AFMOTOR_PWM3_USE_OC4A
#define AFMOTOR_PWM4_USE_OC3A
#endif
#if defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY)
// Alternate pins when used on Teensy 2.0
// TODO: figure out pins & timers to make this work...
#define AFMOTOR_PWM1_NO_OUTPUT
#define AFMOTOR_PWM2_NO_OUTPUT
#define AFMOTOR_PWM3_NO_OUTPUT
#define AFMOTOR_PWM4_NO_OUTPUT
#elif defined(__AVR_AT90USB1286__) && defined(CORE_TEENSY)
// Alternate pins when used on Teensy++ 2.0
// TODO: figure out pins & timers to make this work...
#define AFMOTOR_PWM1_NO_OUTPUT
#define AFMOTOR_PWM2_NO_OUTPUT
#define AFMOTOR_PWM3_NO_OUTPUT
#define AFMOTOR_PWM4_NO_OUTPUT
#endif
#if defined(__MK20DX128__) && defined(CORE_TEENSY)
// Alternate pins when used on Teensy 3.0 - mark 2014-02-05
// TODO: figure out pins & timers to make this work...
#define AFMOTOR_PWM1_NO_OUTPUT
#define AFMOTOR_PWM2_NO_OUTPUT
#define AFMOTOR_PWM3_NO_OUTPUT
#define AFMOTOR_PWM4_NO_OUTPUT
#elif defined(__MK20DX256__) && defined(CORE_TEENSY)
// Alternate pins when used on Teensy 3.1 - mark 2014-02-05
// TODO: figure out pins & timers to make this work...
#define AFMOTOR_PWM1_NO_OUTPUT
#define AFMOTOR_PWM2_NO_OUTPUT
#define AFMOTOR_PWM3_NO_OUTPUT
#define AFMOTOR_PWM4_NO_OUTPUT
#endif
class AFMotorController
{
public:
AFMotorController(void);
void enable(void);
friend class AF_DCMotor;
void latch_tx(void);
};
class AF_DCMotor
{
public:
AF_DCMotor(uint8_t motornum, uint8_t freq = MOTOR34_8KHZ);
void run(uint8_t);
void setSpeed(uint8_t);
private:
uint8_t motornum, pwmfreq;
};
class AF_Stepper {
public:
AF_Stepper(uint16_t, uint8_t);
void step(uint16_t steps, uint8_t dir, uint8_t style = SINGLE);
void setSpeed(uint16_t);
uint8_t onestep(uint8_t dir, uint8_t style);
void release(void);
uint16_t revsteps; // # steps per revolution
uint8_t steppernum;
uint32_t usperstep, steppingcounter;
private:
uint8_t currentstep;
};
uint8_t getlatchstate(void);
#endif
