www.gusucode.com > Arduino_Engineering_Kit_Hardware_Support_18b 工具箱matlab源码程序 > Arduino_Engineering_Kit_Hardware_Support_18b/matlab/MATLABAddon/+arduinoioaddons/+arduino/MKRMotorCarrier.m
classdef MKRMotorCarrier < arduinoio.LibraryBase & matlab.mixin.CustomDisplay
% MKRMotorCarrier Create an Arduino MKR motor carrier device object.
% Copyright 2018 The MathWorks, Inc.
properties(Access = private, Constant = true)
CREATE_MOTOR_CARRIER = hex2dec('00')
DELETE_MOTOR_CARRIER = hex2dec('01')
end
properties(SetAccess = immutable)
I2CAddress
end
properties(Access = private)
Bus
end
properties(Access = private)
ResourceOwner = 'MKRMotorCarrier';
MinI2CAddress = hex2dec('66');
MaxI2CAddress = hex2dec('66');
end
properties(Access = {?arduinoioaddons.arduino.MKRDCMotor, ...
?arduinoioaddons.arduino.MKRRotaryEncoder})
EncoderExists = [false false];
end
properties(Access = protected, Constant = true)
LibraryName = 'Arduino/MKRMotorCarrier'
DependentLibraries = {'Servo', 'I2C'}
ArduinoLibraryHeaderFiles = 'MKRMotorCarrier/MKRMotorCarrier.h'
CppHeaderFile = fullfile(arduinoio.FilePath(mfilename('fullpath')), 'src', 'MKRMotorCarrierBase.h')
CppClassName = 'MKRMotorCarrierBase'
end
%% Constructor
methods(Hidden, Access = public)
function obj = MKRMotorCarrier(parentObj, varargin)
obj.Parent = parentObj;
count = incrementResourceCount(obj.Parent, obj.ResourceOwner);
if count > 1
obj.localizedError('MATLAB:arduinoio:general:maxAddonLimit',...
num2str(1),...
obj.ResourceOwner,...
obj.Parent.Board);
end
try
p = inputParser;
addParameter(p, 'I2CAddress', hex2dec('66'));
% addParameter(p, 'PWMFrequency', 1600);
parse(p, varargin{:});
catch
obj.localizedError('MATLAB:arduinoio:general:invalidNVPropertyName',...
obj.ResourceOwner, ...
arduinoio.internal.renderCellArrayOfCharVectorsToCharVector(p.Parameters, ', '));
end
address = validateAddress(obj, p.Results.I2CAddress);
try
i2cAddresses = getSharedResourceProperty(parentObj, obj.ResourceOwner, 'i2cAddresses');
catch
i2cAddresses = [];
end
if ismember(address, i2cAddresses)
obj.localizedError('MATLAB:arduinoio:general:conflictI2CAddress', ...
num2str(address),...
dec2hex(address));
end
i2cAddresses = [i2cAddresses address];
setSharedResourceProperty(parentObj, obj.ResourceOwner, 'i2cAddresses', i2cAddresses);
obj.I2CAddress = address;
% frequency = arduinoio.internal.validateDoubleParameterRanged('PWM frequency', p.Results.PWMFrequency, 0, 2^15-1, 'Hz');
% obj.PWMFrequency = frequency;
configureI2C(obj);
% obj.ShieldSlotNum = getFreeResourceSlot(obj.Parent, obj.ResourceOwner);
createMotorCarrier(obj);
setSharedResourceProperty(parentObj, 'I2C', 'I2CIsUsed', true);
end
end
%% Destructor
methods (Access=protected)
function delete(obj)
originalState = warning('off','MATLAB:class:DestructorError');
try
parentObj = obj.Parent;
i2cAddresses = getSharedResourceProperty(parentObj, obj.ResourceOwner, 'i2cAddresses');
if ~isempty(i2cAddresses)
if ~isempty(obj.I2CAddress)
% Can be empty if failed during construction
i2cAddresses(i2cAddresses==obj.I2CAddress) = [];
end
end
setSharedResourceProperty(parentObj, obj.ResourceOwner, 'i2cAddresses', i2cAddresses);
decrementResourceCount(obj.Parent, obj.ResourceOwner);
% clearResourceSlot(parentObj, obj.ResourceOwner, obj.ShieldSlotNum);
deleteMotorCarrier(obj);
catch
% Do not throw errors on destroy.
% This may result from an incomplete construction.
end
warning(originalState.state, 'MATLAB:class:DestructorError');
end
end
%% Public methods
methods (Access = public)
function servoObj = servo(obj, motornum, varargin)
% Attach a servo motor to the specified port on MKR Motor
% Carrier
%
% Syntax:
% s = servo(mcObj, motornum)
% s = servo(mcObj, motornum,Name,Value)
%
% Description:
% s = servo(mcObj, motornum)Creates a servo motor object connected to the specified port on the MKR Motor Carrier
% s = servo(mcObj, motornum,Name,Value) Creates a servo motor object with additional options specified by one or more Name-Value pair arguments.
%
% Example:
% a = arduino('COM7', 'Uno', 'Libraries', 'Arduino/MKRMotorCarrier');
% mcObj = addon(a, 'Arduino/MKRMotorCarrier');
% s = servo(mcObj,1);
%
% Input Arguments:
% mcObj - Arduino MKR motor carrier object
% motornum - Port number the motor is connected to on the carrier (numeric)
%
% Name-Value Pair Input Arguments:
% Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value.
% Name must appear inside single quotes (' '). You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.
% See also dcmotor
try
servoObj = arduinoioaddons.arduino.MKRServo(obj, motornum, varargin{:});
catch e
throwAsCaller(e);
end
end
function dcmotorObj = dcmotor(obj, motornum, varargin)
% Attach a DC motor to the specified port on MKR Motor Carrier
%
% Syntax:
% dcm = dcmotor(mcObj, motornum)
% dcm = dcmotor(mcObj, motornum,Name,Value)
%
% Description:
% dcm = dcmotor(mcObj, motornum) Creates a dcmotor motor object connected to the specified port on the Arduino MKR motor carrier.
% dcm = dcmotor(mcObj, motornum,Name,Value) Creates a dcmotor motor object with additional options specified by one or more Name-Value pair arguments.
%
% Example:
% a = arduino('COM7', 'Uno', 'Libraries', 'Arduino/MKRMotorCarrier');
% mcObj = addon(a, 'Arduino/MKRMotorCarrier');
% dcm = dcmotor(mcObj,1);
%
% Example:
% a = arduino('COM7', 'Uno', 'Libraries', 'Arduino/MKRMotorCarrier');
% mcObj = addon(a, 'Arduino/MKRMotorCarrier');
% dcm = dcmotor(mcObj,1,'DutyCycle',0.2);
%
% Input Arguments:
% mcObj -Arduino MKR motor carrier object
% motornum - Port number the motor is connected to on the carrier (numeric)
%
% Name-Value Pair Input Arguments:
% Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value.
% Name must appear inside single quotes (' '). You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.
%
% NV Pair:
% 'DutyCycle' - The dutycycle of the motor that ranges from -1 to 1 (numeric,
% default 0.
%
% See also servo
try
dcmotorObj = arduinoioaddons.arduino.MKRDCMotor(obj, motornum, varargin{:});
catch e
throwAsCaller(e);
end
end
function encoderObj = rotaryEncoder(obj, Channel, varargin)
try
encoderObj = arduinoioaddons.arduino.MKRRotaryEncoder(obj,Channel,varargin{:});
catch e
throwAsCaller(e);
end
end
end
%% Private methods
methods (Access = private)
function createMotorCarrier(obj)
commandID = obj.CREATE_MOTOR_CARRIER;
% frequency = typecast(uint16(obj.PWMFrequency), 'uint8');
data = uint8(obj.I2CAddress);
sendCommandCustom(obj, obj.LibraryName, commandID, data);
end
function deleteMotorCarrier(obj)
commandID = obj.DELETE_MOTOR_CARRIER;
params = [];
sendCommandCustom(obj, obj.LibraryName, commandID, params);
end
end
%% Helper method to related classes
methods (Access = {?arduinoioaddons.arduino.MKRServo, ...
?arduinoioaddons.arduino.MKRDCMotor, ...
?arduinoioaddons.arduino.MKRRotaryEncoder})
function output = sendCarrierCommand(obj, commandID, inputs, timeout)
switch nargin
case 3
output = sendCommandCustom(obj, obj.LibraryName, commandID, inputs);
case 4
output = sendCommandCustom(obj, obj.LibraryName, commandID, inputs, timeout);
otherwise
end
end
end
methods(Access = private)
function addr = validateAddress(obj, address)
% accept string type address but convert to character vector
if isstring(address)
address = char(address);
end
if ~ischar(address)
try
addr = arduinoio.internal.validateIntParameterRanged('address', address, obj.MinI2CAddress, obj.MaxI2CAddress);
return;
catch
printableAddress = false;
try
printableAddress = (numel(num2str(address)) == 1);
catch
end
if printableAddress
obj.localizedError('MATLAB:arduinoio:general:invalidI2CAddress', num2str(address), num2str(obj.MinI2CAddress), num2str(obj.MaxI2CAddress));
else
obj.localizedError('MATLAB:arduinoio:general:invalidI2CAddressType');
end
end
else
tmpAddr = address;
try
index = strfind(lower(tmpAddr), '0x');
if index == 1
tmpAddr = tmpAddr(3:end);
elseif strcmpi(tmpAddr(end), 'h')
tmpAddr(end) = [];
end
addressInDec = hex2dec(tmpAddr);
catch
obj.localizedError('MATLAB:arduinoio:general:invalidI2CAddress', address, num2str(obj.MinI2CAddress), num2str(obj.MaxI2CAddress));
end
if addressInDec < obj.MinI2CAddress || addressInDec > obj.MaxI2CAddress
obj.localizedError('MATLAB:arduinoio:general:invalidI2CAddress', address, num2str(obj.MinI2CAddress), num2str(obj.MaxI2CAddress));
end
end
addr = addressInDec;
end
function configureI2C(obj)
parentObj = obj.Parent;
I2CTerminals = parentObj.getI2CTerminals();
if ~strcmp(parentObj.Board, 'Due')
obj.Bus = 0;
resourceOwner = '';
sda = parentObj.getPinsFromTerminals(I2CTerminals(obj.Bus*2+1)); sda = sda{1};
configurePinResource(parentObj, sda, resourceOwner, 'I2C', false);
scl = parentObj.getPinsFromTerminals(I2CTerminals(obj.Bus*2+2)); scl = scl{1};
configurePinResource(parentObj, scl, resourceOwner, 'I2C', false);
obj.Pins = {sda scl};
else
obj.Bus = 1;
obj.Pins = {'SDA1', 'SCL1'};
end
end
end
%% Protected methods
methods(Access = protected)
function output = sendCommandCustom(obj, libName, commandID, inputs, timeout)
if nargin > 4
[output, ~] = sendCommand(obj, libName, commandID, inputs, timeout);
else
[output, ~] = sendCommand(obj, libName, commandID, inputs);
end
end
function displayScalarObject(obj)
header = getHeader(obj);
disp(header);
% Display main options
pins = [obj.Pins{1} '(SDA), ' obj.Pins{2} '(SCL)'];
fprintf(' Pins: %-15s\n', pins);
fprintf(' I2CAddress: %-1d (0x%02s)\n', obj.I2CAddress, dec2hex(obj.I2CAddress));
fprintf('\n');
% Allow for the possibility of a footer.
footer = getFooter(obj);
if ~isempty(footer)
disp(footer);
end
end
end
end