#include <WickedMotorShield.h>

Inheritance diagram for WickedMotorShield:

Public Member Functions
	WickedMotorShield (uint8_t use_alternate_pins=0)

Static Public Member Functions
static uint32_t	getRCIN (uint8_t rc_input_number, uint32_t timeout=0)

static uint8_t	version (void)

Protected Member Functions
uint8_t	get_shift_register_value (uint8_t motor_number)

void	apply_mask (uint8_t *shift_register_value, uint8_t mask, uint8_t operation)

uint8_t	filter_mask (uint8_t shift_register_value, uint8_t mask)

void	set_shift_register_value (uint8_t motor_number, uint8_t value)

void	load_shift_register (void)

uint8_t	get_motor_directionM (uint8_t motor_number)

uint8_t	get_motor_brakeM (uint8_t motor_number)

void	setSpeedM (uint8_t motor_number, uint8_t pwm_val)

void	setDirectionData (uint8_t motor_number, uint8_t direction)

void	setBrakeData (uint8_t motor_number, uint8_t brake_type)

Static Protected Attributes
static uint8_t	M1_PWM_PIN = 11

static uint8_t	M6_PWM_PIN = 3

static uint8_t	old_dir [6] = {0,0,0,0,0,0}

Static Private Member Functions
static uint8_t	get_rc_input_pin (uint8_t rc_input_number)

Static Private Attributes
static uint8_t	first_shift_register = 0xff

static uint8_t	second_shift_register = 0xff

static uint8_t	SERIAL_DATA_PIN = 12

static uint8_t	RCIN1_PIN = 4

static uint8_t	RCIN2_PIN = 8

Detailed Description

Definition at line 197 of file WickedMotorShield.h.

Constructor & Destructor Documentation

◆ WickedMotorShield()

WickedMotorShield::WickedMotorShield ( uint8_t use_alternate_pins = 0 )

Constructor for WickedMotorShield, which has Wicked_DCMotor and Wicked_Stepper as subclasses.

Parameters

use_alternate_pins if the value is equal to USE_ALTERNATE_PINS, the values used for WickedMotorShield::SERIAL_DATA_PIN, WickedMotorShield::RCIN1_PIN, WickedMotorShield::RCIN2_PIN, WickedMotorShield::M1_PWM_PIN, and WickedMotorShield::M6_PWM_PIN changed to an alternate set.

Symbol	Standard	Alternate
WickedMotorShield::SERIAL_DATA_PIN	12	0
WickedMotorShield::RCIN1_PIN	4	3
WickedMotorShield::RCIN2_PIN	8	11
WickedMotorShield::M1_PWM_PIN	11	8
M2_PWM_PIN	9	9
M3_PWM_PIN	5	5
M4_PWM_PIN	10	10
M5_PWM_PIN	6	6
WickedMotorShield::M6_PWM_PIN	3	4

Pins 4 and 8 do not support PWM on Arduino Uno R3 microcontroller board. However, all of these pins support PWM on the Arduino Mega

Definition at line 148 of file WickedMotorShield.cpp.

Member Function Documentation

◆ apply_mask()

void WickedMotorShield::apply_mask	(	uint8_t *	shift_register_value,
		uint8_t	mask,
		uint8_t	operation
	)

protected

Carry out bitwise or/and operation .

Parameters

shift_register_value	Address of shift register to be altered. This will be the address of either WickedDeviceShield::first_shift_register or WickedDeviceShield::second_shift_register. Only the bit whose location is given by the mask parameter will be altered.
mask	with bit set in position to be changed.
operation	flag indicating whether bit to be set (OPERATION_SET) or cleared (OPERATION_CLEAR). A value of OPERATION_NONE indicates that no action is to be taken.

If operation clear do a bitwise and operation on the shift register byte and the mask with all bits inverted. In the inverted mask, the bit to be cleared is 0 and the other bits are 1.

If operation set do a bitwise or operation on the shift register byte and the mask. The mask has a one in the bit of the shift register to be set to be set.

Definition at line 236 of file WickedMotorShield.cpp.

◆ filter_mask()

uint8_t WickedMotorShield::filter_mask	(	uint8_t	shift_register_value,
		uint8_t	mask
	)

protected

Apply a mask to an eight bit integer using bitwise and.

Parameters

shift_register_value	byte to which mask is to be applied
mask	byte containing mask to be applied

Returns: 0 if bit indicated by mask is 0, otherwise return 1

Definition at line 255 of file WickedMotorShield.cpp.

◆ get_motor_brakeM()

uint8_t WickedMotorShield::get_motor_brakeM ( uint8_t motor_number )

protected

Return motor brake status for a specific motor.

Parameters

motor_number integer representing motor

Returns: shift register value for motor having done a bitwise and operation with the brake mask for the motor. This will be zero if the brake bit is not set and greater than zero if the brake bit is set.

Definition at line 493 of file WickedMotorShield.cpp.

◆ get_motor_directionM()

uint8_t WickedMotorShield::get_motor_directionM ( uint8_t motor_number )

protected

Return motor direction for a specific motor.

Parameters

motor_number integer representing motor

Returns: shift register value for motor having done a bitwise and operation with the direction mask for the motor. Value will zero if direction bit is set (counter clockwise). Otherwise it will be greater than zero if direction bit is not set (clockwise).

Definition at line 464 of file WickedMotorShield.cpp.

◆ get_rc_input_pin()

uint8_t WickedMotorShield::get_rc_input_pin ( uint8_t rc_input_number )

staticprivate

Definition at line 279 of file WickedMotorShield.cpp.

◆ get_shift_register_value()

uint8_t WickedMotorShield::get_shift_register_value ( uint8_t motor_number )

protected

Get the shift register information for a specific motor.

Parameters

motor_number Number of motor for which information is desired.

The information for motors M1 to M4 are contained in the first shift register. The information for motors M5 and M6 is contained in the second shift register.

Definition at line 195 of file WickedMotorShield.cpp.

◆ getRCIN()

uint32_t WickedMotorShield::getRCIN	(	uint8_t	rc_input_number,
		uint32_t	timeout = `0`
	)

static

Definition at line 264 of file WickedMotorShield.cpp.

◆ load_shift_register()

void WickedMotorShield::load_shift_register ( void )

protected

Load the contents of second_shift_register and first_shift_register to the motor shield using SERIAL_LATCH_PIN, SERIAL_DATA_PIN, and SERIAL_CLOCK_PIN pins.

Data is only moved from the memory values on the Arduino board to the motor shield. No data is moved in the other direction.

Definition at line 181 of file WickedMotorShield.cpp.

◆ set_shift_register_value()

void WickedMotorShield::set_shift_register_value	(	uint8_t	motor_number,
		uint8_t	value
	)

protected

Copy the shift register data for the specified motor into the correct data structure.

Parameters

motor_number	number of motor for which data has been modified.
value	information to be moved to shift register.

Definition at line 209 of file WickedMotorShield.cpp.

◆ setBrakeData()

void WickedMotorShield::setBrakeData	(	uint8_t	motor_number,
		uint8_t	brake_type
	)

protected

Set the contents of the shift_registers to indicate the desired brake condition.

Parameters

motor_number	number of motor for which data is to be set
brake_type	value is BRAKE_OFF, BRAKE_HARD, or BRAKE_SOFT. Value is the new brake condition.

Change Jan, 2020 : The value of WickedMotorShield::old_dir is only changed if brake status is changed from BRAKE_OFF to (BRAKE_HARD or BRAKE_SOFT) or from (BRAKE_HARD or BRAKE_SOFT) to BRAKE_OFF.

Definition at line 383 of file WickedMotorShield.cpp.

◆ setDirectionData()

void WickedMotorShield::setDirectionData	(	uint8_t	motor_number,
		uint8_t	direction
	)

protected

Set the value for the direction in Mx_DIR_MASK bit and the element of the old_dir directory.

Parameters

motor_number	number of motor for which direction is to be set
direction	value to be set for direction (DIR_CW or DIR_CCW). The value of DIR_CW is 1 while the value for DIR_CCW is set to 0.

Change Jan, 2020 - No action to be taken if brake bit is set.

This needs to be reviewed. Either the brake status should be set to BRAKE_OFF when the direction is set or no action should be taken if the brake status is not BRAKE_OFF. Should the brake status always be changed to BRAKE_OFF if this method is called.

Definition at line 328 of file WickedMotorShield.cpp.

◆ setSpeedM()

void WickedMotorShield::setSpeedM	(	uint8_t	motor_number,
		uint8_t	pwm_val
	)

protected

Definition at line 292 of file WickedMotorShield.cpp.

◆ version()

uint8_t WickedMotorShield::version ( void )

static

Version number is hard-coded to a value of 1.

Definition at line 518 of file WickedMotorShield.cpp.

Member Data Documentation

◆ first_shift_register

uint8_t WickedMotorShield::first_shift_register = 0xff

staticprivate

Contains direction and brake status for motors M1, M2, M3, and M4.

Definition at line 199 of file WickedMotorShield.h.

◆ M1_PWM_PIN

uint8_t WickedMotorShield::M1_PWM_PIN = 11

staticprotected

Digital pin for M1 PWM (pulse width modulation).

Pin 11 for standard pins, use pin 8 for alternate pins.

Definition at line 210 of file WickedMotorShield.h.

◆ M6_PWM_PIN

uint8_t WickedMotorShield::M6_PWM_PIN = 3

staticprotected

Digital pin for M6 PWM (pulse width modulation).

Pin 3 for standard pins, pin 4 for alternate pins.

Definition at line 215 of file WickedMotorShield.h.

◆ old_dir

uint8_t WickedMotorShield::old_dir = {0,0,0,0,0,0}

staticprotected

Contains the old value of the direction bit if the value of the brake bit is changed from 0 to 1.

When the brake bit is changed from 0 to 1, the direction bit indicates whether it is BRAKE_SOFT or BRAKE_HARD. If the direction bit wasn't copied to this array, the value would be lost.

Definition at line 216 of file WickedMotorShield.h.

◆ RCIN1_PIN

uint8_t WickedMotorShield::RCIN1_PIN = 4

staticprivate

Digital pin used for Radio Control Input Pin 1.

Pin 4 used for standard pins, pin 3 for alternate pins.

Definition at line 202 of file WickedMotorShield.h.

◆ RCIN2_PIN

uint8_t WickedMotorShield::RCIN2_PIN = 8

staticprivate

Digital pin used for Radio Control Input Pin 2.

Pin 8 used for standard pins, pin 11 for alternate pins.

Definition at line 203 of file WickedMotorShield.h.

◆ second_shift_register

uint8_t WickedMotorShield::second_shift_register = 0xff

staticprivate

Contains direction and brake status for motors M5 and M6.

Definition at line 200 of file WickedMotorShield.h.

◆ SERIAL_DATA_PIN

uint8_t WickedMotorShield::SERIAL_DATA_PIN = 12

staticprivate

Digital Arduino pin used to send data to motor shield.

Pin 12 for standard pins, pin 0 for alternate pins.

Definition at line 201 of file WickedMotorShield.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Attributes

Static Private Member Functions

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WickedMotorShield()

Member Function Documentation

◆ apply_mask()

◆ filter_mask()

◆ get_motor_brakeM()

◆ get_motor_directionM()

◆ get_rc_input_pin()

◆ get_shift_register_value()

◆ getRCIN()

◆ load_shift_register()

◆ set_shift_register_value()

◆ setBrakeData()

◆ setDirectionData()

◆ setSpeedM()

◆ version()

Member Data Documentation

◆ first_shift_register

◆ M1_PWM_PIN

◆ M6_PWM_PIN

◆ old_dir

◆ RCIN1_PIN

◆ RCIN2_PIN

◆ second_shift_register

◆ SERIAL_DATA_PIN