This class defines methods for the EVShield Bank(s). More...

#include <EVShield.h>

Inheritance diagram for EVShieldBank:

Public Member Functions
	EVShieldBank (uint8_t i2c_address=SH_Bank_A)

int	evshieldGetBatteryVoltage ()

int	nxshieldGetBatteryVoltage ()

uint8_t	EVShieldIssueCommand (char command)

bool	motorSetEncoderTarget (SH_Motor which_motor, long target)

long	motorGetEncoderTarget (SH_Motor which_motor)

bool	motorSetSpeed (SH_Motor which_motor, int speed)

int8_t	motorGetSpeed (SH_Motor which_motor)

bool	motorSetTimeToRun (SH_Motor which_motor, int seconds)

uint8_t	motorGetTimeToRun (SH_Motor which_motor)

bool	motorSetCommandRegB (SH_Motor which_motor, uint8_t value)

uint8_t	motorGetCommandRegB (SH_Motor which_motor)

bool	motorSetCommandRegA (SH_Motor which_motor, uint8_t value)

uint8_t	motorGetCommandRegA (SH_Motor which_motor)

int32_t	motorGetEncoderPosition (SH_Motor which_motor)

uint8_t	motorGetStatusByte (SH_Motor which_motor)

uint8_t	motorGetTasksRunningByte (SH_Motor which_motor)

bool	motorSetEncoderPID (uint16_t Kp, uint16_t Ki, uint16_t Kd)

bool	motorSetSpeedPID (uint16_t Kp, uint16_t Ki, uint16_t Kd)

bool	centerLedSetRGB (uint8_t R, uint8_t G, uint8_t B)

bool	ledSetRGB (uint8_t R, uint8_t G, uint8_t B)

bool	motorSetPassCount (uint8_t pass_count)

bool	motorSetTolerance (uint8_t tolerance)

bool	motorReset ()

bool	motorStartBothInSync ()

bool	motorResetEncoder (SH_Motor which_motor)

bool	motorSetSpeedTimeAndControl (SH_Motor which_motors, int speed, uint8_t duration, uint8_t control)

bool	motorSetEncoderSpeedTimeAndControl (SH_Motor which_motors, long encoder, int speed, uint8_t duration, uint8_t control)

uint8_t	motorIsTimeDone (SH_Motor which_motors)

uint8_t	motorWaitUntilTimeDone (SH_Motor which_motors)

uint8_t	motorIsTachoDone (SH_Motor which_motors)

uint8_t	motorWaitUntilTachoDone (SH_Motor which_motors)

void	motorRunUnlimited (SH_Motor which_motors, SH_Direction direction, int speed)

uint8_t	motorRunSeconds (SH_Motor which_motors, SH_Direction direction, int speed, uint8_t duration, SH_Completion_Wait wait_for_completion, SH_Next_Action next_action)

uint8_t	motorRunTachometer (SH_Motor which_motors, SH_Direction direction, int speed, long tachometer, SH_Move relative, SH_Completion_Wait wait_for_completion, SH_Next_Action next_action)

uint8_t	motorRunDegrees (SH_Motor which_motors, SH_Direction direction, int speed, long degrees, SH_Completion_Wait wait_for_completion, SH_Next_Action next_action)

uint8_t	motorRunRotations (SH_Motor which_motors, SH_Direction direction, int speed, long rotations, SH_Completion_Wait wait_for_completion, SH_Next_Action next_action)

bool	motorStop (SH_Motor which_motors, SH_Next_Action next_action)

bool	sensorSetType (uint8_t which_sensor, uint8_t sensor_type)

int	sensorReadRaw (uint8_t which_sensor)

Public Member Functions inherited from EVShieldI2C
	EVShieldI2C (uint8_t i2c_address)

void	init (void *shield, SH_BankPort bp)

uint8_t	readByte (uint8_t location)

uint16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes, uint8_t *buf)

char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)

bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

char *	getFeatureSet ()

uint8_t	getErrorCode ()

bool	checkAddress ()

bool	setAddress (uint8_t address)

Public Member Functions inherited from BaseI2CDevice
	BaseI2CDevice (uint8_t i2c_address)

void	initProtocol ()

uint8_t *	readRegisters (uint8_t start_register, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0, bool clear_buffer=false)

uint8_t	readByte (uint8_t location)

int16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

char *	readString (uint8_t location, uint8_t bytes_to_read, uint8_t *buffer=0, uint8_t buffer_length=0)

bool	writeRegisters (uint8_t start_register, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

bool	checkAddress ()

bool	setAddress (uint8_t i2c_address)

uint8_t	getAddress ()

uint8_t	getWriteErrorCode ()

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

char *	getFeatureSet ()

Public Member Functions inherited from SoftI2cMaster
uint8_t	start (uint8_t addressRW)

void	stop (void)

uint8_t	restart (uint8_t addressRW)

uint8_t	write (uint8_t b)

uint8_t	read (uint8_t last)

	SoftI2cMaster (uint8_t devAddr)

void	initProtocol (uint8_t sclPin=(uint8_t) NULL, uint8_t sdaPin=(uint8_t) NULL)

uint8_t *	readRegisters (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL)

bool	writeRegistersWithLocation (int bytes, uint8_t *buf)

bool	writeRegisters (uint8_t location, uint8_t bytes_to_write, uint8_t *buffer=0)

bool	writeByte (uint8_t location, uint8_t data)

bool	writeInteger (uint8_t location, uint16_t data)

bool	writeLong (uint8_t location, uint32_t data)

char *	readString (uint8_t startRegister, uint8_t bytes, uint8_t *buf=NULL, uint8_t len=0)

uint8_t	readByte (uint8_t location)

int16_t	readInteger (uint8_t location)

uint32_t	readLong (uint8_t location)

char *	getFirmwareVersion ()

char *	getVendorID ()

char *	getDeviceID ()

uint8_t	getWriteErrorCode ()

bool	checkAddress ()

bool	setAddress (uint8_t address)

Additional Inherited Members
Public Attributes inherited from EVShieldI2C
void *	mp_shield

uint8_t *	_i2c_buffer

uint8_t	m_protocol

Public Attributes inherited from SoftI2cMaster
uint8_t *	_so_buffer

Static Public Attributes inherited from BaseI2CDevice
static uint8_t *	_buffer = 0

static bool	b_initialized = false

Protected Member Functions inherited from BaseI2CDevice
void	setWriteErrorCode (uint8_t code)

Detailed Description

This class defines methods for the EVShield Bank(s).

Constructor & Destructor Documentation

§ EVShieldBank()

EVShieldBank::EVShieldBank ( uint8_t i2c_address = SH_Bank_A )

Constructor for bank a of the EVShield device

Member Function Documentation

§ evshieldGetBatteryVoltage()

int EVShieldBank::evshieldGetBatteryVoltage ( )

Get the battery voltage (milli-volts) for this bank of the EVShield

Returns: voltage value in milli-volts The voltage reported by this function is actual voltage at VIN pin on Arduino This will be lower than your supply voltage due to drops at various points in the circuit. The drop will be different based on where the power source is connected. (i.e. source through EVShield Green connector Vs Arduino black adapater Vs Arduino USB.)

§ EVShieldIssueCommand()

uint8_t EVShieldBank::EVShieldIssueCommand ( char command )

Issue a command to this bank of the EVShield

Parameters

command Refer to user guide for list of commands.

§ motorGetCommandRegA()

uint8_t EVShieldBank::motorGetCommandRegA ( SH_Motor which_motor )

Get the command register A

    For more information on what register does, please refer to 'Motor Command Register Explained' section of EVShield-Advanced-Development-Guide.pdf from following url:
    http://www.openelectrons.com/index.php?module=documents&JAS_DocumentManager_op=viewDocument&JAS_Document_id=1

Parameters

which_motor Provide which motor to operate on

Returns: the last set command register value.

§ motorGetCommandRegB()

uint8_t EVShieldBank::motorGetCommandRegB ( SH_Motor which_motor )

Get the command register B

    For more information on what register does, please refer to 'Motor Command Register Explained' section of EVShield-Advanced-Development-Guide.pdf from following url:
    http://www.openelectrons.com/index.php?module=documents&JAS_DocumentManager_op=viewDocument&JAS_Document_id=1

Parameters

which_motor Provide which motor to operate on

Returns: the last set command register value.

§ motorGetEncoderPosition()

int32_t EVShieldBank::motorGetEncoderPosition ( SH_Motor which_motor )

Get the current encoder position of the motor in degrees

Parameters

which_motor Provide which motor to operate on

Returns: current encoder value

§ motorGetEncoderTarget()

long EVShieldBank::motorGetEncoderTarget ( SH_Motor which_motor )

Get the target encoder position for the motor

Parameters

which_motor Provide which motor to operate on

Returns: long encoder value that the motor is trying to achieve.

§ motorGetSpeed()

int8_t EVShieldBank::motorGetSpeed ( SH_Motor which_motor )

Get the speed of the motor

Parameters

which_motor Provide which motor to operate on

Returns: the speed value set to the motor

§ motorGetStatusByte()

uint8_t EVShieldBank::motorGetStatusByte ( SH_Motor which_motor )

Get the current status of the motor

Parameters

which_motor Provide which motor to operate on

Returns: The current status of the motor. This is a byte with various bits set based on motor's state. Refer to User Guide for details of bits.

§ motorGetTasksRunningByte()

uint8_t EVShieldBank::motorGetTasksRunningByte ( SH_Motor which_motor )

Get the tasks that are running on the specific motor

Parameters

which_motor Provide which motor to operate on

Returns: The task byte that's currently running for this motor. (Currently only one task is supported.)

§ motorGetTimeToRun()

uint8_t EVShieldBank::motorGetTimeToRun ( SH_Motor which_motor )

Get the time in seconds that the motor is running for

Parameters

which_motor Provide which motor to operate on

Returns: time the motor has been running since last start.

§ motorIsTachoDone()

uint8_t EVShieldBank::motorIsTachoDone ( SH_Motor which_motors )

Validate if the motor has reached its set target tachometer position

Parameters

which_motors Provide which motor(s) to operate on

Returns: 0 when motor(s) has completed a encoder based move properly, If the return value is non-zero, either motor has not finished yet or has encountered an error condition.

§ motorIsTimeDone()

uint8_t EVShieldBank::motorIsTimeDone ( SH_Motor which_motors )

Validate if the motor has finished running for the set time duration

Parameters

which_motors Provide which motor(s) to operate on

Returns: 0 when motor(s) has completed a timed move properly, If the return value is non-zero, either motor has not finished yet or has encountered an error condition.

§ motorReset()

bool EVShieldBank::motorReset ( )

Reset all the set values for the motors Applies to all motors on this bank.

§ motorResetEncoder()

bool EVShieldBank::motorResetEncoder ( SH_Motor which_motor )

Reset the current encoder position to zero for the motor

Parameters

which_motor Provide which motor to operate on

§ motorRunDegrees()

uint8_t EVShieldBank::motorRunDegrees	(	SH_Motor	which_motors,
		SH_Direction	direction,
		int	speed,
		long	degrees,
		SH_Completion_Wait	wait_for_completion,
		SH_Next_Action	next_action
	)

Run the motor for a set number of degrees and proceed to the next action

Parameters

which_motors	specifiy the motor(s) to operate on
direction	specifiy the direction to run the motor
speed	the speed value (between 0 and 100)
degrees	The degrees the motor should turn through
wait_for_completion	whether this API should wait for completion or not
next_action	for these motor being operated on

Returns: 0 if the operation was finished satisfactorily, in case return value is non-zero you should check for the bits for error conditions.

§ motorRunRotations()

uint8_t EVShieldBank::motorRunRotations	(	SH_Motor	which_motors,
		SH_Direction	direction,
		int	speed,
		long	rotations,
		SH_Completion_Wait	wait_for_completion,
		SH_Next_Action	next_action
	)

Run the motor for a set number of complete rotations and proceed to the next action

Parameters

which_motors	specifiy the motor(s) to operate on
direction	specifiy the direction to run the motor
speed	the speed value (between 0 and 100)
rotations	The rotations the motor should rotate through
wait_for_completion	whether this API should wait for completion or not
next_action	for these motor being operated on

Returns: 0 if the operation was finished satisfactorily, in case return value is non-zero you should check for the bits for error conditions.

§ motorRunSeconds()

uint8_t EVShieldBank::motorRunSeconds	(	SH_Motor	which_motors,
		SH_Direction	direction,
		int	speed,
		uint8_t	duration,
		SH_Completion_Wait	wait_for_completion,
		SH_Next_Action	next_action
	)

Run the motor for a set duration at a set speed and do the next action

Parameters

which_motors	specifiy the motor(s) to operate on
direction	specifiy the direction to run the motor
speed	the speed value (between 0 and 100)
duration	in seconds
wait_for_completion	whether this API should wait for completion or not
next_action	for these motor being operated on

Returns: 0 if the operation was finished satisfactorily, in case return value is non-zero you should check for the bits for error conditions.

§ motorRunTachometer()

uint8_t EVShieldBank::motorRunTachometer	(	SH_Motor	which_motors,
		SH_Direction	direction,
		int	speed,
		long	tachometer,
		SH_Move	relative,
		SH_Completion_Wait	wait_for_completion,
		SH_Next_Action	next_action
	)

run until the tachometer target has been reached and do next action

Parameters

which_motors	specifiy the motor(s) to operate on
direction	specifiy the direction to run the motor
speed	the speed value (between 0 and 100)
tachometer	the target for the encoder value to achieve.
relative	is the tachometer relative or absolute.
wait_for_completion	whether this API should wait for completion or not
next_action	for these motor being operated on

Returns: 0 if the operation was finished satisfactorily, in case return value is non-zero you should check for the bits for error conditions.

§ motorRunUnlimited()

void EVShieldBank::motorRunUnlimited	(	SH_Motor	which_motors,
		SH_Direction	direction,
		int	speed
	)

Run the motor endlessly at the desired speed in the desired direction

Parameters

which_motors	specifiy the motor(s) to operate on
direction	specifiy the direction to run the motor
speed	the speed value (between 0 and 100)

Returns: Starts the motors and function returns immediately

§ motorSetCommandRegA()

bool EVShieldBank::motorSetCommandRegA	(	SH_Motor	which_motor,
		uint8_t	value
	)

Set the Command Register A There are two command registers, A and B.

    For more information on what register does, please refer to 'Motor Command Register Explained' section of EVShield-Advanced-Development-Guide.pdf from following url:
    http://www.openelectrons.com/index.php?module=documents&JAS_DocumentManager_op=viewDocument&JAS_Document_id=1

Parameters

which_motor	Provide which motor to operate on
value	The command register value to set

§ motorSetCommandRegB()

bool EVShieldBank::motorSetCommandRegB	(	SH_Motor	which_motor,
		uint8_t	value
	)

Set the Command Register B There are two command registers, A and B.

    For more information on what register does, please refer to 'Motor Command Register Explained' section of EVShield-Advanced-Development-Guide.pdf from following url:
    http://www.openelectrons.com/index.php?module=documents&JAS_DocumentManager_op=viewDocument&JAS_Document_id=1

Parameters

which_motor	Provide which motor to operate on
value	The command register value to set

§ motorSetEncoderPID()

bool EVShieldBank::motorSetEncoderPID	(	uint16_t	Kp,
		uint16_t	Ki,
		uint16_t	Kd
	)

Set the PID control factors for the encoders All motors on this bank will use the same PID values.

Parameters

Kp	The proportionate factor of the PID.
Ki	The integreal factor of the PID.
Kd	The differential factor of the PID.

§ motorSetEncoderSpeedTimeAndControl()

bool EVShieldBank::motorSetEncoderSpeedTimeAndControl	(	SH_Motor	which_motors,
		long	encoder,
		int	speed,
		uint8_t	duration,
		uint8_t	control
	)

This function sets the speed, the number of seconds, and the control (a.k.a. command register A)

    For more information on what register does, please refer to 'Motor Command Register Explained' section of EVShield-Advanced-Development-Guide.pdf from following url:
    http://www.openelectrons.com/index.php?module=documents&JAS_DocumentManager_op=viewDocument&JAS_Document_id=1

Parameters

which_motors	Provide which motor(s) to operate on
encoder	Target encoder position to achieve
speed	Speed value between 0 and 100
duration	time to run in seconds
control	command register value

§ motorSetEncoderTarget()

bool EVShieldBank::motorSetEncoderTarget	(	SH_Motor	which_motor,
		long	target
	)

Set the target encoder position for the motor

Parameters

which_motor	Provide which motor to operate on
target	Encode value to achieve

§ motorSetPassCount()

bool EVShieldBank::motorSetPassCount ( uint8_t pass_count )

Set how many times the PID controller is allowed to oscillate at the set point Depending on your situation of load and power characteristics, your PID algorithm may oscillate indefinitly trying to achieve it's target. To prevent that from happening there is a limit set.

Parameters

pass_count the maximum number of times the PID is allowed to cross it's target.

§ motorSetSpeed()

bool EVShieldBank::motorSetSpeed	(	SH_Motor	which_motor,
		int	speed
	)

Set the speed of the motor

Parameters

which_motor	Provide which motor to operate on
speed	The speed value between 0 and 100

§ motorSetSpeedPID()

bool EVShieldBank::motorSetSpeedPID	(	uint16_t	Kp,
		uint16_t	Ki,
		uint16_t	Kd
	)

Set the PID control factors for the speed of the motors All motors on this bank will use the same PID values.

Parameters

Kp	The proportionate factor of the PID.
Ki	The integreal factor of the PID.
Kd	The differential factor of the PID.

§ motorSetSpeedTimeAndControl()

bool EVShieldBank::motorSetSpeedTimeAndControl	(	SH_Motor	which_motors,
		int	speed,
		uint8_t	duration,
		uint8_t	control
	)

Set the speed, duration to run, and control for the motor through register A (or B)

    For more information on what register does, please refer to 'Motor Command Register Explained' section of EVShield-Advanced-Development-Guide.pdf from following url:
    http://www.openelectrons.com/index.php?module=documents&JAS_DocumentManager_op=viewDocument&JAS_Document_id=1

Parameters

which_motors	Provide which motor(s) to operate on
speed	Speed value between 0 and 100
duration	time to run in seconds
control	command register value

§ motorSetTimeToRun()

bool EVShieldBank::motorSetTimeToRun	(	SH_Motor	which_motor,
		int	seconds
	)

Set the time in seconds for which the motor should run for

Parameters

which_motor	Provide which motor to operate on
seconds	The time duration the motor should run

§ motorSetTolerance()

bool EVShieldBank::motorSetTolerance ( uint8_t tolerance )

Set how far away from the set point the PID controller is allowed to oscillate (amplitude) Depending on your situation of load and power characteristics, your PID algorithm may oscillate above or below the target.

Parameters

tolerance the maximum amplititude allowed.

§ motorStartBothInSync()

bool EVShieldBank::motorStartBothInSync ( )

Start both motors at the same time to follow the set conditions This will execute the commands specified in the command register on both motors at once.

§ motorStop()

bool EVShieldBank::motorStop	(	SH_Motor	which_motors,
		SH_Next_Action	next_action
	)

stop the motor and do the next action

Parameters

which_motors	specifiy the motor(s) to operate on
next_action	for these motor being operated on

§ motorWaitUntilTachoDone()

uint8_t EVShieldBank::motorWaitUntilTachoDone ( SH_Motor which_motors )

Wait until the motor has reached its set target tachometer position

Parameters

which_motors Provide which motor(s) to operate on

Returns: function waits until when motor(s) has stopped, returns 0 if the set goal was achieved. If the return value is non-zero, you should check for error condition such as stall.

§ motorWaitUntilTimeDone()

uint8_t EVShieldBank::motorWaitUntilTimeDone ( SH_Motor which_motors )

Wait until the motor has finished running for its set respective time duration

Parameters

which_motors Provide which motor(s) to operate on

Returns: function waits until when motor(s) has stopped, returns 0 if the set goal was achieved. If the return value is non-zero, you should check for error condition such as stall.

§ nxshieldGetBatteryVoltage()

int EVShieldBank::nxshieldGetBatteryVoltage ( )

nxshieldGetBatteryVoltage() is provided for backword compatibility with nxshield programs.

§ sensorReadRaw()

int EVShieldBank::sensorReadRaw ( uint8_t which_sensor )

Read the raw analog value from the sensor and return as an int

Parameters

which_sensor the sensor to read the raw value from

Returns: raw value from the sensor

§ sensorSetType()

bool EVShieldBank::sensorSetType	(	uint8_t	which_sensor,
		uint8_t	sensor_type
	)

Set the sensor type of the sensor on this bank

Parameters

which_sensor	the sensor to set the type to.
sensor_type	type value of the sensor, refer to Advanced User Guide for available values of sensor types.

The documentation for this class was generated from the following files:

C:/Program Files (x86)/Arduino-1.6.12/libraries/EVShield/EVShield.h
C:/Program Files (x86)/Arduino-1.6.12/libraries/EVShield/EVShield.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ EVShieldBank()

Member Function Documentation

§ evshieldGetBatteryVoltage()

§ EVShieldIssueCommand()

§ motorGetCommandRegA()

§ motorGetCommandRegB()

§ motorGetEncoderPosition()

§ motorGetEncoderTarget()

§ motorGetSpeed()

§ motorGetStatusByte()

§ motorGetTasksRunningByte()

§ motorGetTimeToRun()

§ motorIsTachoDone()

§ motorIsTimeDone()

§ motorReset()

§ motorResetEncoder()

§ motorRunDegrees()

§ motorRunRotations()

§ motorRunSeconds()

§ motorRunTachometer()

§ motorRunUnlimited()

§ motorSetCommandRegA()

§ motorSetCommandRegB()

§ motorSetEncoderPID()

§ motorSetEncoderSpeedTimeAndControl()

§ motorSetEncoderTarget()

§ motorSetPassCount()

§ motorSetSpeed()

§ motorSetSpeedPID()

§ motorSetSpeedTimeAndControl()

§ motorSetTimeToRun()

§ motorSetTolerance()

§ motorStartBothInSync()

§ motorStop()

§ motorWaitUntilTachoDone()

§ motorWaitUntilTimeDone()

§ nxshieldGetBatteryVoltage()

§ sensorReadRaw()

§ sensorSetType()