(derived from QPID_MotorDriver) Implement a QPID_MotorDriver for DC motors hooked up to Adafruit's MotorShield V2. Control of this shield is via I2C, so it might be less responsive than other motor drivers using direct pin control. More...

#include <QPID_MotorDriver_AdafruitMotorShieldV2.h>

Inheritance diagram for QPID_MotorDriver_AdafruitMotorShieldV2:

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Public Member Functions
void	setPower (int16_t pow) override
	Start motor with given power and direction. More...

void	coast (void) override
	Stop motor in fast decay mode by cutting power to it. More...

void	brake (void) override
	The AdafruitMotorShieldV2 provides no braking, so brake() and coast() are the same. More...

void	setDecay (decayModeType mode) override
	Does nothing. Not supported by AdafruitMotorShieldV2.

void	setFrequency (uint8_t onoff) override
	Does nothing. Though the AdafruitMotorShieldV2 library has a public function for setting PWM, the documentation says it's internal only. So you'll have to use init() to set the PWM frequency.

void	enable (void) override
	Does nothing. Not supported by AdafruitMotorShieldV2.

void	disable (void) override
	Does nothing. Not supported by AdafruitMotorShieldV2.

int8_t	hasFault () override
	Not supported by AdafruitMotorShieldV2. More...

void	init (uint8_t motorNum, uint16_t freq, int8_t i2cAddress, int8_t i2cBus, int8_t sda, int8_t scl)
	Get and initialize motor. As the shield is a I2C slave, devices with more than one hardware I2C bus (e.g. ESP32) can use a different bus to be able to act as I2C slave on the other bus. More...

Public Member Functions inherited from QPID_Object
virtual void	update ()
	(abstract) Can be overridden by QPID subsystems which need to do their own polling. Will be called by QPID_Unit::update() for subsystems, and by firmware/client for QPID_Unit itself.

void	throwError (const char invokedBy, const char errorMessage)
	Writes error message and error invoking class to Serial. More...

void	log (const char *logEntry)
	Puts timestamped string into the system log (atm: writes it out to Serial). More...

Protected Member Functions
bool	processMessage (uint8_t *m) override
	(abstract) Interprets message handed down from QPID_Unit locally. Must be overridden in derived classes

Protected Member Functions inherited from QPID_Object
	QPID_Object ()
	Constructor. Begins Serial with 115200 baud for logging and error reporting, if not done previously.

Additional Inherited Members
Public Types inherited from QPID_MotorDriver
enum	decayModeType : uint8_t { decayModeFast = 0, decayModeSlow = 1 }
	Symbolic names for decay modes that should be used during inactive part of PWM phase, if the driver supports that functionality.

Protected Attributes inherited from QPID_MotorDriver
decayModeType	decayMode = decayModeSlow

int16_t	currentPWM = 0

int16_t	maxPower

int16_t	alwaysOnPWM

Detailed Description

(derived from QPID_MotorDriver) Implement a QPID_MotorDriver for DC motors hooked up to Adafruit's MotorShield V2. Control of this shield is via I2C, so it might be less responsive than other motor drivers using direct pin control.

Note: The shield does provide neither sleep/enable, decay mode, nor fault signaling, so none of them are implemented here.

Todo:

mostly untested yet.

Access to the master I2C bus should be regulated, in case other subsystems use I2C too (e.g. endstops on an I2C extender). So, for the moment, watch out for possible problems yourself.

(done?) Can only use the system's default I2C bus (Wire). The library supports providing your own Wire interfaces which would make it possible to use an alternate bus, e.g. if the default bis is used for slave access to the device.

Member Function Documentation

◆ setPower()

void QPID_MotorDriver_AdafruitMotorShieldV2::setPower ( int16_t pow )

overridevirtual

Start motor with given power and direction.

Parameters

pow	PWM value, sign indicates direction.

Note: Preferably use brake() or coast() instead of setPower(0) to stop.

Reimplemented from QPID_MotorDriver.

◆ coast()

void QPID_MotorDriver_AdafruitMotorShieldV2::coast ( void )

overridevirtual

Stop motor in fast decay mode by cutting power to it.

Note: AdafruitMotorShieldV2 only supports coasting, no breaking.

Reimplemented from QPID_MotorDriver.

◆ brake()

void QPID_MotorDriver_AdafruitMotorShieldV2::brake ( void )

overridevirtual

The AdafruitMotorShieldV2 provides no braking, so brake() and coast() are the same.

See also: coast()

Reimplemented from QPID_MotorDriver.

◆ hasFault()

int8_t QPID_MotorDriver_AdafruitMotorShieldV2::hasFault ( )

overridevirtual

Not supported by AdafruitMotorShieldV2.

Returns: alway false (no fault)

Reimplemented from QPID_MotorDriver.

◆ init()

void QPID_MotorDriver_AdafruitMotorShieldV2::init	(	uint8_t	motorNum,
		uint16_t	freq = `-1`,
		int8_t	i2cAddress = `-1`,
		int8_t	i2cBus = `-1`,
		int8_t	sda = `-1`,
		int8_t	scl = `-1`
	)

Get and initialize motor. As the shield is a I2C slave, devices with more than one hardware I2C bus (e.g. ESP32) can use a different bus to be able to act as I2C slave on the other bus.

Parameters

motorNum	Number of motor shield's motor output (1 to 4)
freq	PWM frequency. Use -1 for default (1600 Hz)
i2cAddress	I2C slave address of shield. Use -1 for default (0x60)
i2cBus	I2C Bus, for systems with more than one bus. Use -1 for default (wire library)
sda,scl	SDA and SCL pins. Only specify if i2cBus is non default. Use -1 for default in both cases.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ setPower()

◆ coast()

◆ brake()

◆ hasFault()

◆ init()