mraa_result_t
mraa_pwm_config_percent(mraa_pwm_context dev, int ms, float percentage)
{
int old_dutycycle, old_period, status;
if (!dev) {
syslog(LOG_ERR, "pwm: config_percent: context is NULL");
return MRAA_ERROR_INVALID_HANDLE;
}
old_dutycycle = mraa_pwm_read_duty(dev);
old_period = mraa_pwm_read_period(dev);
status = mraa_pwm_period_us(dev, ms * 1000);
if (status != MRAA_SUCCESS) {
mraa_pwm_write_duty(dev, old_dutycycle);
return status;
}
status = mraa_pwm_write_duty(dev, 0);
if (status != MRAA_SUCCESS) {
return status;
}
status = mraa_pwm_pulsewidth_us(dev, (ms * 1000) * percentage);
if (status != MRAA_SUCCESS) {
mraa_pwm_write_duty(dev, old_dutycycle);
mraa_pwm_write_period(dev, old_period);
return status;
}
return MRAA_SUCCESS;
}
int setAngle(int angle, int pin) {
if (angle > m_maxAngle || angle < 0) {
return MRAA_ERROR_UNSPECIFIED;
}
if (pin == pin3) {
mraa_pwm_enable(m_pwmServoContext, 1);
mraa_pwm_period_us(m_pwmServoContext, m_period);
mraa_pwm_pulsewidth_us(m_pwmServoContext, calcPulseTraveling(angle));
}
if (pin == pin9) {
mraa_pwm_enable(m_pwmServoContext1, 1);
mraa_pwm_period_us(m_pwmServoContext1, m_period);
mraa_pwm_pulsewidth_us(m_pwmServoContext1, calcPulseTraveling(angle));
}
if (m_waitAndDisablePwm) {
sleep(1);
haltPwm();
}
m_currAngle = angle;
return MRAA_SUCCESS;
}
upm_result_t es9257_set_angle(es9257_context dev, int32_t angle){
if(ES9257_MAX_ANGLE < angle || angle < 0){
printf("The angle specified is either above the max angle or below 0");
return UPM_ERROR_UNSPECIFIED;
}
printf("setting angle to: %d\n", angle);
mraa_pwm_enable(dev->pwm, 1);
mraa_pwm_period_us(dev->pwm, ES9257_PERIOD);
int32_t val = 0;
es9257_calc_pulse_travelling(dev, &val, angle);
mraa_pwm_pulsewidth_us(dev->pwm, val);
upm_delay(1);
mraa_pwm_enable(dev->pwm, 0);
return UPM_SUCCESS;
}
mraa_result_t
VexMotorController::setSpeed(double speed)
{
if (m_pwmServoContext == NULL)
{
printf("PWM context is NULL.\n");
return MRAA_ERROR_UNSPECIFIED;
}
if (m_isInverted) speed = -speed;
if (speed > 1) speed = 1;
else if (speed < -1) speed = -1;
mraa_pwm_enable(m_pwmServoContext, 1);
mraa_pwm_period_us(m_pwmServoContext, m_period);
mraa_pwm_pulsewidth_us(m_pwmServoContext, calcPulse(speed));
return MRAA_SUCCESS;
}
mraa_result_t
mraa_pwm_config_percent(mraa_pwm_context dev, int ms ,float percentage)
{
int old_dutycycle, old_period, status;
old_dutycycle = mraa_pwm_read_duty(dev);
old_period = mraa_pwm_read_period(dev);
status = mraa_pwm_write_duty(dev, 0);
if (status != MRAA_SUCCESS) {
return status;
}
status = mraa_pwm_period_us(dev, ms*1000);
if (status != MRAA_SUCCESS) {
mraa_pwm_write_duty(dev, old_dutycycle);
return status;
}
status = mraa_pwm_pulsewidth_us(dev, (ms*1000)*percentage);
if (status != MRAA_SUCCESS) {
mraa_pwm_write_duty(dev, old_dutycycle);
mraa_pwm_write_period(dev, old_period);
return status;
}
return MRAA_SUCCESS;
}
mraa_result_t
mraa_pwm_pulsewidth_ms(mraa_pwm_context dev, int ms)
{
return mraa_pwm_pulsewidth_us(dev, ms * 1000);
}
void stop(){
mraa_pwm_period_us(pwm,1);
mraa_pwm_pulsewidth_us(pwm,0);
}
/**
* The pulsewidth, microseconds
*
* @param us microseconds for pulsewidth
* @return Result of operation
*/
mraa_result_t
pulsewidth_us(int us)
{
return mraa_pwm_pulsewidth_us(m_pwm, us);
}
