- initial commit

Author: sulsadev

AFMotor/AFMotor.cpp

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+// Adafruit Motor shield library
+// copyright Adafruit Industries LLC, 2009
+// this code is public domain, enjoy!
+
+#ifndef _AFMotor_h_
+#define _AFMotor_h_
+
+#include <inttypes.h>
+#include <avr/io.h>
+
+// comment out this line to remove microstepping support
+// for smaller library. Be sure to delete the old library objects!
+#define MICROSTEPPING 1
+
+#ifdef MICROSTEPPING
+#define MICROSTEP 8
+#endif
+
+#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
+
+#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 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
+
+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 getlatchstate(void);
+
+#endif

AFMotor/AFMotor.h

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+// Adafruit Motor shield library
+// copyright Adafruit Industries LLC, 2009
+// this code is public domain, enjoy!
+
+#include <AFMotor.h>
+#include <ServoTimer1.h>
+
+// DC motor on M2
+AF_DCMotor motor(2);
+// DC hobby servo
+ServoTimer1 servo1;
+// Stepper motor on M3+M4 48 steps per revolution
+AF_Stepper stepper(48, 2);
+
+void setup() {
+  Serial.begin(9600);           // set up Serial library at 9600 bps
+  Serial.println("Motor party!");
+  
+  // turn on servo
+  servo1.attach(9);
+   
+  // turn on motor #2
+  motor.setSpeed(200);
+  motor.run(RELEASE);
+}
+
+int i;
+
+// Test the DC motor, stepper and servo ALL AT ONCE!
+void loop() {
+  motor.run(FORWARD);
+  for (i=0; i<255; i++) {
+    servo1.write(i);
+    motor.setSpeed(i);  
+    stepper.step(1, FORWARD, INTERLEAVE);
+    delay(3);
+ }
+ 
+  for (i=255; i!=0; i--) {
+    servo1.write(i-255);
+    motor.setSpeed(i);  
+    stepper.step(1, BACKWARD, INTERLEAVE);
+    delay(3);
+ }
+ 
+  motor.run(BACKWARD);
+  for (i=0; i<255; i++) {
+    servo1.write(i);
+    motor.setSpeed(i);  
+    delay(3);
+    stepper.step(1, FORWARD, DOUBLE);
+ }
+ 
+  for (i=255; i!=0; i--) {
+    servo1.write(i-255);
+    motor.setSpeed(i);  
+    stepper.step(1, BACKWARD, DOUBLE);
+    delay(3);
+ }
+}

AFMotor/Examples/MotorParty/MotorParty.pde

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+// Adafruit Motor shield library
+// copyright Adafruit Industries LLC, 2009
+// this code is public domain, enjoy!
+
+#include <AFMotor.h>
+
+AF_DCMotor motor(4);
+
+void setup() {
+  Serial.begin(9600);           // set up Serial library at 9600 bps
+  Serial.println("Motor test!");
+
+  // turn on motor
+  motor.setSpeed(200);
+ 
+  motor.run(RELEASE);
+}
+
+void loop() {
+  uint8_t i;
+  
+  Serial.print("tick");
+  
+  motor.run(FORWARD);
+  for (i=0; i<255; i++) {
+    motor.setSpeed(i);  
+    delay(10);
+ }
+ 
+  for (i=255; i!=0; i--) {
+    motor.setSpeed(i);  
+    delay(10);
+ }
+  
+  Serial.print("tock");
+
+  motor.run(BACKWARD);
+  for (i=0; i<255; i++) {
+    motor.setSpeed(i);  
+    delay(10);
+ }
+ 
+  for (i=255; i!=0; i--) {
+    motor.setSpeed(i);  
+    delay(10);
+ }
+  
+
+  Serial.print("tech");
+  motor.run(RELEASE);
+  delay(1000);
+}

AFMotor/Examples/MotorTest/MotorTest.pde

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+// Adafruit Motor shield library
+// copyright Adafruit Industries LLC, 2009
+// this code is public domain, enjoy!
+
+#include <AFMotor.h>
+
+AF_Stepper motor(48, 2);
+
+void setup() {
+  Serial.begin(9600);           // set up Serial library at 9600 bps
+  Serial.println("Stepper test!");
+
+  motor.setSpeed(10);  // 10 rpm   
+}
+
+void loop() {
+  Serial.println("Single coil steps");
+  motor.step(100, FORWARD, SINGLE); 
+  motor.step(100, BACKWARD, SINGLE); 
+
+  Serial.println("Double coil steps");
+  motor.step(100, FORWARD, DOUBLE); 
+  motor.step(100, BACKWARD, DOUBLE);
+
+  Serial.println("Interleave coil steps");
+  motor.step(100, FORWARD, INTERLEAVE); 
+  motor.step(100, BACKWARD, INTERLEAVE); 
+
+#ifdef MICROSTEPPING
+  Serial.println("Micrsostep steps");
+  motor.step(100, FORWARD, MICROSTEP); 
+  motor.step(100, BACKWARD, MICROSTEP); 
+#endif
+}

AFMotor/Examples/StepperTest/StepperTest.pde

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+#######################################
+# Syntax Coloring Map for AFMotor
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+AF_DCMotor	KEYWORD1
+AF_Stepper	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+enable	KEYWORD2
+run	KEYWORD2
+setSpeed	KEYWORD2
+step	KEYWORD2
+onestep	KEYWORD2
+release	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
+MICROSTEPPING	LITERAL1
+FORWARD	LITERAL1
+BACKWARD	LITERAL1
+BRAKE	LITERAL1
+RELEASE	LITERAL1
+SINGLE	LITERAL1
+DOUBLE	LITERAL1
+INTERLEAVE	LITERAL1
+MICROSTEP	LITERAL1

AFMotor/keywords.txt

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+/*
+ * DS1307RTC.h - library for DS1307 RTC
+  
+  Copyright (c) Michael Margolis 2009
+  This library is intended to be uses with Arduino Time.h library functions
+
+  The library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  
+  30 Dec 2009 - Initial release
+ */
+
+#include <Wire.h>
+#include "DS1307RTC.h"
+
+#define DS1307_CTRL_ID 0x68 
+
+DS1307RTC::DS1307RTC()
+{
+  Wire.begin();
+}
+  
+// PUBLIC FUNCTIONS
+time_t DS1307RTC::get()   // Aquire data from buffer and convert to time_t
+{
+  tmElements_t tm;
+  read(tm);
+  return(makeTime(tm));
+}
+
+void  DS1307RTC::set(time_t t)
+{
+  tmElements_t tm;
+  breakTime(t, tm);
+  tm.Second |= 0x80;  // stop the clock
+  write(tm); 
+  tm.Second &= 0x7f;  // start the clock
+  write(tm); 
+}
+
+// Aquire data from the RTC chip in BCD format
+void DS1307RTC::read( tmElements_t &tm)
+{
+  Wire.beginTransmission(DS1307_CTRL_ID);
+  Wire.send(0x00);
+  Wire.endTransmission();
+
+  // request the 7 data fields   (secs, min, hr, dow, date, mth, yr)
+  Wire.requestFrom(DS1307_CTRL_ID, tmNbrFields);
+  
+  tm.Second = bcd2dec(Wire.receive() & 0x7f);   
+  tm.Minute = bcd2dec(Wire.receive() );
+  tm.Hour =   bcd2dec(Wire.receive() & 0x3f);  // mask assumes 24hr clock
+  tm.Wday = bcd2dec(Wire.receive() );
+  tm.Day = bcd2dec(Wire.receive() );
+  tm.Month = bcd2dec(Wire.receive() );
+  tm.Year = y2kYearToTm((bcd2dec(Wire.receive())));
+}
+
+void DS1307RTC::write(tmElements_t &tm)
+{
+  Wire.beginTransmission(DS1307_CTRL_ID);
+  Wire.send(0x00); // reset register pointer
+  
+  Wire.send(dec2bcd(tm.Second)) ;   
+  Wire.send(dec2bcd(tm.Minute));
+  Wire.send(dec2bcd(tm.Hour));      // sets 24 hour format
+  Wire.send(dec2bcd(tm.Wday));   
+  Wire.send(dec2bcd(tm.Day));
+  Wire.send(dec2bcd(tm.Month));
+  Wire.send(dec2bcd(tmYearToY2k(tm.Year)));   
+
+  Wire.endTransmission();  
+}
+// PRIVATE FUNCTIONS
+
+// Convert Decimal to Binary Coded Decimal (BCD)
+uint8_t DS1307RTC::dec2bcd(uint8_t num)
+{
+  return ((num/10 * 16) + (num % 10));
+}
+
+// Convert Binary Coded Decimal (BCD) to Decimal
+uint8_t DS1307RTC::bcd2dec(uint8_t num)
+{
+  return ((num/16 * 10) + (num % 16));
+}
+
+DS1307RTC RTC = DS1307RTC(); // create an instance for the user
+