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Added support for Adafruit Motor Shield V2 and Arduino Motor Shield V3

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This commit is contained in:
Patrick Goebel 2016-03-15 07:49:35 -07:00
parent 453eae91b5
commit 038e0cf9b4
2 changed files with 85 additions and 11 deletions
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35
ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.h
View File

@ -6,3 +6,38 @@ void initMotorController();
void setMotorSpeed(int i, int spd); void setMotorSpeed(int i, int spd);
void setMotorSpeeds(int leftSpeed, int rightSpeed); void setMotorSpeeds(int leftSpeed, int rightSpeed);
/**********
* Pin assignments for the Arduino Motor Shield R3
*/
#ifdef ARDUINO_MOTOR_SHIELD_R3
#define LEFT_MOTOR_PIN_DIR 12
#define LEFT_MOTOR_PIN_BRAKE 9
#define LEFT_MOTOR_PIN_SPEED 3
#define RIGHT_MOTOR_PIN_DIR 13
#define RIGHT_MOTOR_PIN_BRAKE 8
#define RIGHT_MOTOR_PIN_SPEED 11
#endif
#ifdef ADAFRUIT_MOTOR_SHIELD_V2
#define LEFT_MOTOR_HEADER 1
#define RIGHT_MOTOR_HEADER 2
#include <Wire.h>
#include <Adafruit_MotorShield.h>
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
// Select which 'port' M1, M2, M3 or M4. NOTE: M1 and M2 conflict with the Robogaia 3-axis encoder shield.
Adafruit_DCMotor *myLeftMotor = AFMS.getMotor(LEFT_MOTOR_HEADER);
Adafruit_DCMotor *myRightMotor = AFMS.getMotor(RIGHT_MOTOR_HEADER);
#endif

49
ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.ino
View File

@ -32,6 +32,7 @@
setMotorSpeed(LEFT, leftSpeed); setMotorSpeed(LEFT, leftSpeed);
setMotorSpeed(RIGHT, rightSpeed); setMotorSpeed(RIGHT, rightSpeed);
} }
#elif defined POLOLU_MC33926 #elif defined POLOLU_MC33926
/* Include the Pololu library */ /* Include the Pololu library */
#include "DualMC33926MotorShield.h" #include "DualMC33926MotorShield.h"
@ -55,19 +56,53 @@
setMotorSpeed(LEFT, leftSpeed); setMotorSpeed(LEFT, leftSpeed);
setMotorSpeed(RIGHT, rightSpeed); setMotorSpeed(RIGHT, rightSpeed);
} }
#elif defined ARDUINO_MOTOR_SHIELD_R3
/* Include the pin definitions for the shield */
#include "arduino_motor_shield_r3.h"
#elif defined ADAFRUIT_MOTOR_SHIELD_V2
/* Wrap the motor driver initialization */ /* Wrap the motor driver initialization */
void initMotorController() { void initMotorController() {
AFMS.begin();
}
/* Wrap the drive motor set speed function */
void setMotorSpeed(int i, int spd) {
if (i == LEFT) {
if (spd < 0) {
myLeftMotor->run(BACKWARD);
spd = -spd;
}
else myLeftMotor->run(FORWARD);
myLeftMotor->setSpeed(spd);
}
else {
if (spd < 0) {
myRightMotor->run(BACKWARD);
spd = -spd;
}
else myRightMotor->run(FORWARD);
myRightMotor->setSpeed(spd);
}
}
// A convenience function for setting both motor speeds
void setMotorSpeeds(int leftSpeed, int rightSpeed) {
setMotorSpeed(LEFT, leftSpeed);
setMotorSpeed(RIGHT, rightSpeed);
}
#elif defined ARDUINO_MOTOR_SHIELD_R3
/* Wrap the motor driver initialization */
void initMotorController() {
/* If the brake function is enabled */
#ifdef USE_ARDUINO_MOTOR_SHIELD_R3_BRAKE
pinMode(LEFT_MOTOR_PIN_BRAKE, OUTPUT); // Initiates Brake Channel A pin
pinMode(RIGHT_MOTOR_PIN_BRAKE, OUTPUT); // Initiates Brake Channel B pin
#endif
// Set up Channel A - LEFT // Set up Channel A - LEFT
pinMode(LEFT_MOTOR_PIN_DIR, OUTPUT); // Initiates Motor Channel A pin pinMode(LEFT_MOTOR_PIN_DIR, OUTPUT); // Initiates Motor Channel A pin
pinMode(LEFT_MOTOR_PIN_BRAKE, OUTPUT); // Initiates Brake Channel A pin
// Set up Channel B - RIGHT // Set up Channel B - RIGHT
pinMode(RIGHT_MOTOR_PIN_DIR, OUTPUT); // Initiates Motor Channel B pin pinMode(RIGHT_MOTOR_PIN_DIR, OUTPUT); // Initiates Motor Channel B pin
pinMode(RIGHT_MOTOR_PIN_BRAKE, OUTPUT); // Initiates Brake Channel B pin
} }
/* Wrap the drive motor set speed function */ /* Wrap the drive motor set speed function */
@ -76,8 +111,10 @@
if (spd < 0) digitalWrite(LEFT_MOTOR_PIN_DIR, LOW); if (spd < 0) digitalWrite(LEFT_MOTOR_PIN_DIR, LOW);
else digitalWrite(LEFT_MOTOR_PIN_DIR, HIGH); else digitalWrite(LEFT_MOTOR_PIN_DIR, HIGH);
#ifdef USE_ARDUINO_MOTOR_SHIELD_R3_BRAKE
if (spd == 0) digitalWrite(LEFT_MOTOR_PIN_BRAKE, HIGH); if (spd == 0) digitalWrite(LEFT_MOTOR_PIN_BRAKE, HIGH);
else digitalWrite(LEFT_MOTOR_PIN_BRAKE, LOW); else digitalWrite(LEFT_MOTOR_PIN_BRAKE, LOW);
#endif
analogWrite(LEFT_MOTOR_PIN_SPEED, spd); analogWrite(LEFT_MOTOR_PIN_SPEED, spd);
} }
@ -85,8 +122,10 @@
if (spd < 0) digitalWrite(RIGHT_MOTOR_PIN_DIR, LOW); if (spd < 0) digitalWrite(RIGHT_MOTOR_PIN_DIR, LOW);
else digitalWrite(RIGHT_MOTOR_PIN_DIR, HIGH); else digitalWrite(RIGHT_MOTOR_PIN_DIR, HIGH);
#ifdef USE_ARDUINO_MOTOR_SHIELD_R3_BRAKE
if (spd == 0) digitalWrite(RIGHT_MOTOR_PIN_BRAKE, HIGH); if (spd == 0) digitalWrite(RIGHT_MOTOR_PIN_BRAKE, HIGH);
else digitalWrite(RIGHT_MOTOR_PIN_BRAKE, LOW); else digitalWrite(RIGHT_MOTOR_PIN_BRAKE, LOW);
#endif
analogWrite(RIGHT_MOTOR_PIN_SPEED, spd); analogWrite(RIGHT_MOTOR_PIN_SPEED, spd);
} }