FishduinoMotor.h

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/*
  This module represents motors on a FischerTechnik interface.

  IMPORTANT: These store a reference to a Fishduino manager, but there is no
  code to guard against orphaning this reference. Make sure you don't call
  any of the member functions after the manager is destroyed!

  NOTE: These only set the bits in an Fishduino manager, they don't update
  the actual interface outputs; you have to call the appropriate function in
  the manager to do that.
*/


#ifndef _FISHDUINOMOTOR_H_
#define _FISHDUINOMOTOR_H_


/////////////////////////////////////////////////////////////////////////////
// INCLUDES
/////////////////////////////////////////////////////////////////////////////


#include "FishduinoMgr.h"


/////////////////////////////////////////////////////////////////////////////
// MOTOR
/////////////////////////////////////////////////////////////////////////////


class FishduinoMotor
{
#ifndef NDEBUG
public:
#else
protected:
#endif
  FishduinoMgr   &m_mgr;                // Manager to work with
  byte            m_intindex;           // Interface index
  byte            m_ccwmask;            // Bits for counterclockwise
  byte            m_cwmask;             // Bits for clockwise

public:
  //-------------------------------------------------------------------------
  // Constants for better readability
  //
  // Use one of these as counterclockwise pin and use the following pin as
  // clockwise pin to connect a motor to the corresponding interface pins
  enum {
    M1 = 0,
    M2 = 2,
    M3 = 4,
    M4 = 6
  };

  enum Direction {
    CCW = -1,
    STOP = 0,
    CW = 1
  };

public:
  //-------------------------------------------------------------------------
  // Constructor
  //
  // Note: the counter-clockwise pin is usually the lower pin (even pin
  // numbers in our numbering scheme) and the clockwise pin is usually one
  // pin higher.
  FishduinoMotor(
    FishduinoMgr &mgr,                  // Manager to work with
    byte intindex,                      // Interface index
    byte ccwpin,                        // Pin to set for counter-clockwise
    byte cwpin = 255)                   // Pin to set for clockwise(255=next)
    : m_mgr(mgr)
    , m_intindex(intindex)
    , m_ccwmask(1 << ccwpin)
    , m_cwmask(1 << (cwpin == 255 ? ccwpin + 1 : cwpin))
  {
    // Nothing to do here
  }

public:
  //-------------------------------------------------------------------------
  // Stop the motor
  //
  // Note: this doesn't actually update the outputs, you need to call the
  // appropriate update function on the manager for that.
  void
    Stop()
  {
    m_mgr.SetOutputMask(m_intindex, 0, m_ccwmask | m_cwmask);
  }

public:
  //-------------------------------------------------------------------------
  // Start the motor clockwise
  //
  // Note: this doesn't actually update the outputs, you need to call the
  // appropriate update function on the manager for that.
  void
  Clockwise()
  {
    m_mgr.SetOutputMask(m_intindex, m_cwmask, m_ccwmask);
  }

public:
  //-------------------------------------------------------------------------
  // Start the motor counter-clockwise
  //
  // Note: this doesn't actually update the outputs, you need to call the
  // appropriate update function on the manager for that.
  void
  CounterClockwise()
  {
    m_mgr.SetOutputMask(m_intindex, m_ccwmask, m_cwmask);
  }

public:
  //-------------------------------------------------------------------------
  // Start the motor in the given direction
  //
  // Note: this doesn't actually update the outputs, you need to call the
  // appropriate update function on the manager for that.
  void
  Rotate(
    Direction dir)
  {
    byte m;

    if (dir == CCW)
    {
      m = m_ccwmask;
    }
    else if (dir == CW)
    {
      m = m_cwmask;
    }
    else
    {
      m = 0;
    }

    m_mgr.SetOutputMask(m_intindex, m, (m_ccwmask | m_cwmask) ^ m);
  }

public:
  //-------------------------------------------------------------------------
  // Get current state
  Direction
  GetState()
  {
    Direction result = STOP;
    byte m = (m_mgr.GetOutputMask(m_intindex) & (m_ccwmask | m_cwmask));

    if (m == m_ccwmask)
    {
      result = CCW;
    }
    else if (m == m_cwmask)
    {
      result = CW;
    }
    else
    {
      result = STOP;
    }

    return result;
  }
};


/////////////////////////////////////////////////////////////////////////////
// END
/////////////////////////////////////////////////////////////////////////////


#endif