// Public Methods //////////////////////////////////////////////////////////////
uint8_t Finger::attach(uint8_t dir0, uint8_t dir1, uint8_t sense, bool inv)
{
if (fingerIndex < MAX_FINGERS)
{
// configure pins
pinMode(dir0, OUTPUT); // set direction1 pin to output
pinMode(dir1, OUTPUT); // set direction2 pin to output
pinMode(sense, INPUT); // set sense pin to input
// attach all finger pins
_fingers[fingerIndex].Pin.dir[0] = dir0;
_fingers[fingerIndex].Pin.dir[1] = dir1;
_fingers[fingerIndex].Pin.sns = sense;
// enable the motor and disable finger inversion
_fingers[fingerIndex].invert = inv;
_fingers[fingerIndex].motorEn = true;
// set limits and initial values
setPosLimits(MIN_FINGER_POS,MAX_FINGER_POS);
setSpeedLimits(MIN_FINGER_SPEED,MAX_FINGER_SPEED);
writeSpeed(MAX_FINGER_SPEED);
writePos(MIN_FINGER_POS);
_fingers[fingerIndex].CurrDir = OPEN; // set dir to OPEN after initial writePos to configure finger dir
// if using the Atmega2560, set the PWM freq to > 20kHz to prevent humming
setPWMFreq(dir0, 0x01); // set PWM frequency to max freq
setPWMFreq(dir1, 0x01); // set PWM frequency to max freq
// initialise the timer
if(_timerSetupFlag == false)
{
_passMotorPtr(&fingerPosCtrl);
_timerSetup();
_timerSetupFlag = true;
}
_fingers[fingerIndex].Pin.isActive = true; // this must be set after the check
}
return fingerIndex;
}
int Solid::OpticalDrive::writeSpeed() const
{
Q_D(const OpticalDrive);
return_SOLID_CALL(Ifaces::OpticalDrive *, d->backendObject(), 0, writeSpeed());
}
