void LED::init(uint16_t freq, uint8_t twbr) {
begin();
setPWMFreq(freq); // PWM frequency (maximum 1600)
TWBR = twbr; // I2C speed (12 = 400KHz)
updatePWM();
}
bool motorInit() {
pca9685Init();
setAdjustPowerLeveRange(DEFAULT_ADJUST_POWER_RANGE);
setAdjustPowerLimit(DEFAULT_ADJUST_POWER_LIMIT);
setPWMFreq(PWM_PWM_FREQ);
setupAllMotorPoewrLevel(0, 0, 0,
0);
setThrottlePowerLevel(MIN_POWER_LEVEL);
delay(1);
return true;
}
// 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
PCA9685::init()
{
int ret;
ret = I2C::init();
if (ret != OK) {
return ret;
}
ret = reset();
if (ret != OK) {
return ret;
}
ret = setPWMFreq(PCA9685_PWMFREQ);
return ret;
}
void BEEPER_Set_Volume_Frequency(unsigned short frequency, VOLUME_LEVEL Volume)
{
strt_Beeper_Value.u16_Beeper_Frequency = frequency;
switch(Volume)
{
case VOLUME_LOW:
strt_Beeper_Value.u8_Beeper_Volume = 15;
break;
case VOLUME_MED:
strt_Beeper_Value.u8_Beeper_Volume = 30;
break;
case VOLUME_HIGH:
strt_Beeper_Value.u8_Beeper_Volume = 50;
break;
case VOLUME_MAX:
strt_Beeper_Value.u8_Beeper_Volume = 75;
break;
default:
strt_Beeper_Value.u8_Beeper_Volume = 50;
break;
}
setPWMFreq(strt_Beeper_Value.u16_Beeper_Frequency, strt_Beeper_Value.u8_Beeper_Volume);
}
/*!
\param bus the bus to use in /dev/i2c-%d.
\param address the device address on bus
*/
PCA9685::PCA9685(int address) {
//i2c = new I2C(bus,address);
addr = address;
reset();
setPWMFreq(50);
}
