Revert "adafruitms1438: Initial implementation"

This reverts commit da0071ae71.

Conflicts:
	examples/c++/CMakeLists.txt

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -99,8 +99,6 @@ add_executable (l298-stepper-example l298-stepper.cxx)
 add_executable (at42qt1070-example at42qt1070.cxx)
 add_executable (grovemd-example grovemd.cxx)
 add_executable (pca9685-example pca9685.cxx)
-add_executable (adafruitms1438-example adafruitms1438.cxx)
-add_executable (adafruitms1438-stepper-example adafruitms1438-stepper.cxx)
 add_executable (groveeldriver-example groveeldriver.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
@@ -182,7 +180,6 @@ include_directories (${PROJECT_SOURCE_DIR}/src/l298)
 include_directories (${PROJECT_SOURCE_DIR}/src/at42qt1070)
 include_directories (${PROJECT_SOURCE_DIR}/src/grovemd)
 include_directories (${PROJECT_SOURCE_DIR}/src/pca9685)
-include_directories (${PROJECT_SOURCE_DIR}/src/adafruitms1438)
 include_directories (${PROJECT_SOURCE_DIR}/src/groveeldriver)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
@@ -284,6 +281,4 @@ target_link_libraries (l298-stepper-example l298 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (at42qt1070-example at42qt1070 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (grovemd-example grovemd ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (pca9685-example pca9685 ${CMAKE_THREAD_LIBS_INIT})
-target_link_libraries (adafruitms1438-example adafruitms1438 ${CMAKE_THREAD_LIBS_INIT})
-target_link_libraries (adafruitms1438-stepper-example adafruitms1438 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveeldriver-example groveeldriver ${CMAKE_THREAD_LIBS_INIT})

examples/c++/adafruitms1438-stepper.cxx

@@ -1,82 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-#include <unistd.h>
-#include <signal.h>
-#include <iostream>
-#include "adafruitms1438.h"
-
-using namespace std;
-using namespace upm;
-
-int main(int argc, char **argv)
-{
-//! [Interesting]
-  // Instantiate an Adafruit MS 1438 on I2C bus 0
-
-  upm::AdafruitMS1438 *ms = 
-    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
-                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
-
-  // Setup for use with a stepper motor connected to the M1 & M2 ports
-
-  // set a PWM period of 50Hz
-
-  // disable first, to be safe
-  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
-
-  // configure for a NEMA-17, 200 steps per revolution
-  ms->stepConfig(AdafruitMS1438::STEPMOTOR_M12, 200);
-
-  // set speed at 10 RPM's
-  ms->setStepperSpeed(AdafruitMS1438::STEPMOTOR_M12, 10);
-  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
-                          AdafruitMS1438::DIR_CW);
-
-  // enable
-  cout << "Enabling..." << endl;
-  ms->enableStepper(AdafruitMS1438::STEPMOTOR_M12);
-
-  cout << "Rotating 1 full revolution at 10 RPM speed." << endl;
-  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 200);
-
-  cout << "Sleeping for 2 seconds..." << endl;
-  sleep(2);
-  cout << "Rotating 1/2 revolution in opposite direction at 10 RPM speed." 
-       << endl;
-
-  ms->setStepperDirection(AdafruitMS1438::STEPMOTOR_M12, 
-                          AdafruitMS1438::DIR_CCW);
-  ms->stepperSteps(AdafruitMS1438::STEPMOTOR_M12, 100);
-
-  cout << "Disabling..." << endl;
-  ms->disableStepper(AdafruitMS1438::STEPMOTOR_M12);
-
-  cout << "Exiting" << endl;
-
-//! [Interesting]
-
-  delete ms;
-  return 0;
-}

examples/c++/adafruitms1438.cxx

@@ -1,75 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-#include <unistd.h>
-#include <signal.h>
-#include <iostream>
-#include "adafruitms1438.h"
-
-using namespace std;
-using namespace upm;
-
-int main(int argc, char **argv)
-{
-//! [Interesting]
-  // Instantiate an Adafruit MS 1438 on I2C bus 0
-
-  upm::AdafruitMS1438 *ms = 
-    new upm::AdafruitMS1438(ADAFRUITMS1438_I2C_BUS, 
-                            ADAFRUITMS1438_DEFAULT_I2C_ADDR);
-
-  // Setup for use with a DC motor connected to the M3 port
-
-  // set a PWM period of 50Hz
-  ms->setPWMPeriod(50);
-
-  // disable first, to be safe
-  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
-
-  // set speed at 50%
-  ms->setMotorSpeed(AdafruitMS1438::MOTOR_M3, 50);
-  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CW);
-
-  cout << "Spin M3 at half speed for 3 seconds, then reverse for 3 seconds."
-       << endl;
-
-  ms->enableMotor(AdafruitMS1438::MOTOR_M3);
-
-  sleep(3);
-
-  cout << "Reversing M3" << endl;
-  ms->setMotorDirection(AdafruitMS1438::MOTOR_M3, AdafruitMS1438::DIR_CCW);
-
-  sleep(3);
-
-  cout << "Stopping M3" << endl;
-  ms->disableMotor(AdafruitMS1438::MOTOR_M3);
-
-  cout << "Exiting" << endl;
-
-//! [Interesting]
-
-  delete ms;
-  return 0;
-}

examples/javascript/adafruitms1438-stepper.js

@@ -1,92 +0,0 @@
-/*jslint node:true, vars:true, bitwise:true, unparam:true */
-/*jshint unused:true */
-/*
-* Author: Zion Orent <zorent@ics.com>
-* Copyright (c) 2015 Intel Corporation.
-*
-* Permission is hereby granted, free of charge, to any person obtaining
-* a copy of this software and associated documentation files (the
-* "Software"), to deal in the Software without restriction, including
-* without limitation the rights to use, copy, modify, merge, publish,
-* distribute, sublicense, and/or sell copies of the Software, and to
-* permit persons to whom the Software is furnished to do so, subject to
-* the following conditions:
-*
-* The above copyright notice and this permission notice shall be
-* included in all copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-
-function exit()
-{
-	console.log("Exiting");
-
-	myMotorShield_obj = null;
-	if (MotorShield_lib)
-	{
-		MotorShield_lib.cleanUp();
-		MotorShield_lib = null;
-	}
-	process.exit(0);
-}
-
-var MotorShield_lib = require('jsupm_adafruitms1438');
-
-/* Import header values */
-var I2CBus = MotorShield_lib.ADAFRUITMS1438_I2C_BUS;
-var I2CAddr = MotorShield_lib.ADAFRUITMS1438_DEFAULT_I2C_ADDR;
-
-var M12motor = MotorShield_lib.AdafruitMS1438.STEPMOTOR_M12;
-var MotorDirCW = MotorShield_lib.AdafruitMS1438.DIR_CW;
-var MotorDirCCW = MotorShield_lib.AdafruitMS1438.DIR_CCW;
-
-
-// Instantiate an Adafruit MS 1438 on I2C bus 0
-var myMotorShield_obj = new MotorShield_lib.AdafruitMS1438(I2CBus, I2CAddr);
-
-
-// Setup for use with a stepper motor connected to the M1 & M2 ports
-
-// disable first, to be safe
-myMotorShield_obj.disableStepper(M12motor);
-
-// configure for a NEMA-17, 200 steps per revolution
-myMotorShield_obj.stepConfig(M12motor, 200);
-
-// set speed at 10 RPM's
-myMotorShield_obj.setStepperSpeed(M12motor, 10);
-myMotorShield_obj.setStepperDirection(M12motor, MotorDirCW);
-
-console.log("Enabling...");
-myMotorShield_obj.enableStepper(M12motor);
-
-console.log("Rotating 1 full revolution at 10 RPM speed.");
-myMotorShield_obj.stepperSteps(M12motor, 200);
-
-console.log("Sleeping for 2 seconds...");
-
-
-setTimeout(function()
-{
-	console.log("Rotating 1/2 revolution in opposite direction at 10 RPM speed.");
-
-	myMotorShield_obj.setStepperDirection(M12motor, MotorDirCCW);
-	myMotorShield_obj.stepperSteps(M12motor, 100);
-
-	console.log("Disabling...");
-	myMotorShield_obj.disableStepper(M12motor);
-	exit();
-}, 2000);
-
-
-process.on('SIGINT', function()
-{
-	exit();
-});

examples/javascript/adafruitms1438.js

@@ -1,89 +0,0 @@
-/*jslint node:true, vars:true, bitwise:true, unparam:true */
-/*jshint unused:true */
-/*
-* Author: Zion Orent <zorent@ics.com>
-* Copyright (c) 2015 Intel Corporation.
-*
-* Permission is hereby granted, free of charge, to any person obtaining
-* a copy of this software and associated documentation files (the
-* "Software"), to deal in the Software without restriction, including
-* without limitation the rights to use, copy, modify, merge, publish,
-* distribute, sublicense, and/or sell copies of the Software, and to
-* permit persons to whom the Software is furnished to do so, subject to
-* the following conditions:
-*
-* The above copyright notice and this permission notice shall be
-* included in all copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-*/
-
-function exit()
-{
-	console.log("Exiting");
-
-	myMotorShield_obj = null;
-	if (MotorShield_lib)
-	{
-		MotorShield_lib.cleanUp();
-		MotorShield_lib = null;
-	}
-	process.exit(0);
-}
-
-var MotorShield_lib = require('jsupm_adafruitms1438');
-
-
-/* Import header values */
-var I2CBus = MotorShield_lib.ADAFRUITMS1438_I2C_BUS;
-var I2CAddr = MotorShield_lib.ADAFRUITMS1438_DEFAULT_I2C_ADDR;
-
-var M3motor = MotorShield_lib.AdafruitMS1438.MOTOR_M3;
-var MotorDirCW = MotorShield_lib.AdafruitMS1438.DIR_CW;
-var MotorDirCCW = MotorShield_lib.AdafruitMS1438.DIR_CCW;
-
-
-// Instantiate an Adafruit MS 1438 on I2C bus 0
-var myMotorShield_obj = new MotorShield_lib.AdafruitMS1438(I2CBus, I2CAddr);
-
-
-// Setup for use with a DC motor connected to the M3 port
-
-// set a PWM period of 50Hz
-myMotorShield_obj.setPWMPeriod(50);
-
-// disable first, to be safe
-myMotorShield_obj.disableMotor(M3motor);
-
-// set speed at 50%
-myMotorShield_obj.setMotorSpeed(M3motor, 50);
-myMotorShield_obj.setMotorDirection(M3motor, MotorDirCW);
-
-process.stdout.write("Spin M3 at half speed for 3 seconds, ");
-console.log("then reverse for 3 seconds.");
-myMotorShield_obj.enableMotor(M3motor);
-
-setTimeout(function()
-{
-	console.log("Reversing M3");
-	myMotorShield_obj.setMotorDirection(M3motor, MotorDirCCW);
-}, 3000);
-
-
-setTimeout(function()
-{
-	console.log("Stopping M3");
-	myMotorShield_obj.disableMotor(M3motor);
-	exit();
-}, 6000);
-
-process.on('SIGINT', function()
-{
-	exit();
-});

src/adafruitms1438/CMakeLists.txt

@@ -1,10 +0,0 @@
-set (libname "adafruitms1438")
-set (libdescription "upm module for the Adafruit Motor Shield 1438")
-set (module_src ${libname}.cxx)
-set (module_h ${libname}.h)
-set (reqlibname "upm-pca9685")
-include_directories("../pca9685")
-upm_module_init()
-target_link_libraries(${libname} pca9685)
-swig_link_libraries (jsupm_${libname} -lupm-pca9685 ${MRAA_LIBRARIES} ${NODE_LIBRARIES})
-swig_link_libraries (pyupm_${libname} -lupm-pca9685 ${PYTHON_LIBRARIES} ${MRAA_LIBRARIES})

src/adafruitms1438/adafruitms1438.cxx

@@ -1,305 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-#include <unistd.h>
-#include <math.h>
-#include <iostream>
-#include <string>
-
-#include "adafruitms1438.h"
-
-using namespace upm;
-using namespace std;
-
-
-AdafruitMS1438::AdafruitMS1438(int bus, uint8_t address) :
-  m_pca9685(new PCA9685(bus, address))
-{
-  setupPinMaps();
-
-  // set a default period of 50Hz
-  setPWMPeriod(50);
-
-  // disable all PWM's (4 of them).  They are shared with each other
-  // (stepper/DC), so just disable the DC motors here
-  disableMotor(MOTOR_M1);
-  disableMotor(MOTOR_M2);
-  disableMotor(MOTOR_M3);
-  disableMotor(MOTOR_M4);
-  
-  // Set all 'on time' registers to 0
-  m_pca9685->ledOnTime(PCA9685_ALL_LED, 0);
-
-  // set the default stepper config at 200 steps per rev
-  stepConfig(STEPMOTOR_M12, 200);
-  stepConfig(STEPMOTOR_M34, 200);
-}
-
-AdafruitMS1438::~AdafruitMS1438()
-{
-  delete m_pca9685;
-}
-
-void AdafruitMS1438::initClock(STEPMOTORS_T motor)
-{
-  gettimeofday(&m_stepConfig[motor].startTime, NULL);
-}
-
-uint32_t AdafruitMS1438::getMillis(STEPMOTORS_T motor)
-{
-  struct timeval elapsed, now;
-  uint32_t elapse;
-
-  // get current time
-  gettimeofday(&now, NULL);
-
-  struct timeval startTime = m_stepConfig[motor].startTime;
-
-  // compute the delta since m_startTime
-  if( (elapsed.tv_usec = now.tv_usec - startTime.tv_usec) < 0 )
-    {
-      elapsed.tv_usec += 1000000;
-      elapsed.tv_sec = now.tv_sec - startTime.tv_sec - 1;
-    }
-  else
-    {
-      elapsed.tv_sec = now.tv_sec - startTime.tv_sec;
-    }
-
-  elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
-
-  // never return 0
-  if (elapse == 0)
-    elapse = 1;
-
-  return elapse;
-}
-
-// setup the pin mappings of the pca9685 outputs to the proper motor controls
-void AdafruitMS1438::setupPinMaps()
-{
-  // first the dc motors
-  m_dcMotors[0] = (DC_PINMAP_T){ 8, 10, 9 };
-  m_dcMotors[1] = (DC_PINMAP_T){ 13, 11, 12 };
-  m_dcMotors[2] = (DC_PINMAP_T){ 2, 4, 3 };
-  m_dcMotors[3] = (DC_PINMAP_T){ 7, 5, 6 };
-
-  // now the 2 steppers
-  m_stepMotors[0] = (STEPPER_PINMAP_T){ 8, 10, 9,
-                                        13, 11, 12 };
-  m_stepMotors[1] = (STEPPER_PINMAP_T){ 2, 4, 3,
-                                        7, 5, 6 };
-}
-
-void AdafruitMS1438::setPWMPeriod(float hz)
-{
-  // must be in sleep mode to set the prescale register
-  m_pca9685->setModeSleep(true);
-  m_pca9685->setPrescaleFromHz(hz);
-  m_pca9685->setModeSleep(false);
-}
-
-void AdafruitMS1438::enableMotor(DCMOTORS_T motor)
-{
-  m_pca9685->ledFullOff(m_dcMotors[motor].pwm, false);
-}
-
-void AdafruitMS1438::disableMotor(DCMOTORS_T motor)
-{
-  m_pca9685->ledFullOff(m_dcMotors[motor].pwm, true);
-}
-
-void AdafruitMS1438::enableStepper(STEPMOTORS_T motor)
-{
-  m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, false);
-  m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, false);
-}
-
-void AdafruitMS1438::disableStepper(STEPMOTORS_T motor)
-{
-  m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
-  m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
-}
-
-void AdafruitMS1438::setMotorSpeed(DCMOTORS_T motor, int speed)
-{
-  if (speed < 0)
-    speed = 0;
-  
-  if (speed > 100)
-    speed = 100;
-
-  float percent = float(speed) / 100.0;
-  
-  m_pca9685->ledOffTime(m_dcMotors[motor].pwm, int(4095.0 * percent));
-}
-
-void AdafruitMS1438::setStepperSpeed(STEPMOTORS_T motor, int speed)
-{
-  m_stepConfig[motor].stepDelay = 60 * 1000 / 
-    m_stepConfig[motor].stepsPerRev / speed;
-}
-
-void AdafruitMS1438::setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir)
-{
-  if (dir & 0x01)
-    {
-      m_pca9685->ledFullOn(m_dcMotors[motor].in1, true);
-      m_pca9685->ledFullOff(m_dcMotors[motor].in1, false);
-    }
-  else
-    {
-      m_pca9685->ledFullOff(m_dcMotors[motor].in1, true);
-      m_pca9685->ledFullOn(m_dcMotors[motor].in1, false);
-    }
-
-  if (dir & 0x02)
-    {
-      m_pca9685->ledFullOn(m_dcMotors[motor].in2, true);
-      m_pca9685->ledFullOff(m_dcMotors[motor].in2, false);
-    }
-  else
-    {
-      m_pca9685->ledFullOff(m_dcMotors[motor].in2, true);
-      m_pca9685->ledFullOn(m_dcMotors[motor].in2, false);
-    }
-}
-
-void AdafruitMS1438::setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir)
-{
-  switch (dir)
-    {
-    case DIR_CW:
-      m_stepConfig[motor].stepDirection = 1;
-      break;
-    case DIR_CCW:
-      m_stepConfig[motor].stepDirection = -1;
-      break;
-    default:                // default to 1 if DIR_NONE specified
-      m_stepConfig[motor].stepDirection = 1;
-      break;
-    }
-}
-
-void AdafruitMS1438::stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev)
-{
-  m_stepConfig[motor].stepsPerRev = stepsPerRev;
-  m_stepConfig[motor].currentStep = 0;
-  m_stepConfig[motor].stepDelay = 0;
-  m_stepConfig[motor].stepDirection = 1; // forward
-
-  // now, setup the control pins - we want both FULL ON and FULL OFF.
-  // Since FULL OFF has precedence, we can then control the steps by
-  // just turning on/off the FULL OFF bit for the relevant outputs
-
-  m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true);
-  m_pca9685->ledFullOn(m_stepMotors[motor].pwmA, true);
-
-  m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true);
-  m_pca9685->ledFullOn(m_stepMotors[motor].pwmB, true);
-
-  m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
-  m_pca9685->ledFullOn(m_stepMotors[motor].in1A, true);
-
-  m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
-  m_pca9685->ledFullOn(m_stepMotors[motor].in2A, true);
-
-  m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
-  m_pca9685->ledFullOn(m_stepMotors[motor].in1B, true);
-
-  m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
-  m_pca9685->ledFullOn(m_stepMotors[motor].in2B, true);
-}
-
-void AdafruitMS1438::stepperStep(STEPMOTORS_T motor)
-{
-  int step = m_stepConfig[motor].currentStep % 4;
-
-  //   Step I0 I1 I2 I3
-  //     1  1  0  1  0
-  //     2  0  1  1  0
-  //     3  0  1  0  1
-  //     4  1  0  0  1
-
-  // we invert the logic since we are essentially toggling an OFF bit,
-  // not an ON bit.
-  switch (step)
-    {
-    case 0:    // 1010
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
-      break;
-    case 1:    // 0110
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true);
-      break;
-    case 2:    //0101
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
-      break;
-    case 3:    //1001
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true);
-      m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false);
-      break;
-    }
-}
-
-void AdafruitMS1438::stepperSteps(STEPMOTORS_T motor, unsigned int steps)
-{
-  while (steps > 0)
-    {
-      if (getMillis(motor) >= m_stepConfig[motor].stepDelay)
-        {
-          // reset the clock
-          initClock(motor);
-
-          m_stepConfig[motor].currentStep += m_stepConfig[motor].stepDirection;
-
-          if (m_stepConfig[motor].stepDirection == 1)
-            {
-              if (m_stepConfig[motor].currentStep >= 
-                  m_stepConfig[motor].stepsPerRev)
-                m_stepConfig[motor].currentStep = 0;
-            }
-          else
-            {
-              if (m_stepConfig[motor].currentStep <= 0)
-                m_stepConfig[motor].currentStep = 
-                  m_stepConfig[motor].stepsPerRev;
-            }
-
-          steps--;
-          stepperStep(motor);
-        }
-    }
-}
-

src/adafruitms1438/adafruitms1438.h

@@ -1,244 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2015 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-#pragma once
-
-#include <stdint.h>
-#include <sys/time.h>
-
-#include <string>
-#include <mraa/i2c.h>
-#include <mraa/gpio.h>
-
-#include "pca9685.h"
-
-#define ADAFRUITMS1438_I2C_BUS 0
-#define ADAFRUITMS1438_DEFAULT_I2C_ADDR 0x60
-
-namespace upm {
-  
-  /**
-   * @brief UPM module for the Adafruit Motor Shield 1438
-   * @defgroup adafruitms1438 libupm-adafruitms1438
-   */
-
-  /**
-   * @brief C++ API for the ADAFRUITMS1438 motor shield
-   *
-   * This class implements support for the stepper and DC motors that
-   * can be connected to this Motor Shield.
-   * http://www.adafruit.com/products/1438
-   *
-   * NOTE: The two servo connections are not actually controlled by
-   * the pca9685 controller (or this class), rather they are connected
-   * directly to digital PWM pins 9 and 10 on the arduino breakout.
-   *
-   * @ingroup i2c adafruitms1438
-   * An example using a DC motor conected to M3
-   * @snippet adafruitms1438.cxx Interesting
-   * An example using a stepper motor connected to M1 & M2
-   * @snippet adafruitms1438-stepper.cxx Interesting
-   */
-  class AdafruitMS1438 {
-  public:
-
-    /**
-     * Enum to specify the direction of a motor
-     */
-    typedef enum {
-      DIR_NONE = 0x00,
-      DIR_CW   = 0x01,
-      DIR_CCW  = 0x02
-    } DIRECTION_T;
-
-    /**
-     * Enum to specify a DC motor
-     */
-    typedef enum {
-      MOTOR_M1 = 0,
-      MOTOR_M2 = 1,
-      MOTOR_M3 = 2,
-      MOTOR_M4 = 3
-    } DCMOTORS_T;
-
-    /**
-     * Enum to specify a Stepper motor
-     */
-    typedef enum {
-      STEPMOTOR_M12 = 0,
-      STEPMOTOR_M34 = 1
-    } STEPMOTORS_T;
-
-    /**
-     * AdafruitMS1438 constructor
-     *
-     * @param bus i2c bus to use
-     * @param address the address for this sensor
-     */
-    AdafruitMS1438(int bus, uint8_t address = ADAFRUITMS1438_DEFAULT_I2C_ADDR);
-
-    /**
-     * AdafruitMS1438 Destructor
-     */
-    ~AdafruitMS1438();
-
-    /**
-     * Return the number of milliseconds elapsed since initClock(...)
-     * was last called.
-     *
-     * @return elapsed milliseconds
-     */
-    uint32_t getMillis(STEPMOTORS_T motor);
-
-    /**
-     * Reset the Clock
-     *
-     */
-    void initClock(STEPMOTORS_T motor);
-
-    /**
-     * Set the PWM period.  Note this applies to all PWM channels.
-     *
-     * @param hz set the PWM period 
-     */
-    void setPWMPeriod(float hz);
-
-    /**
-     * enable PWM output for a motor
-     *
-     * @param motor the DC motor to enable
-     */
-    void enableMotor(DCMOTORS_T motor);
-
-    /**
-     * disable PWM output for a motor
-     *
-     * @param motor the DC motor to disable
-     */
-    void disableMotor(DCMOTORS_T motor);
-
-    /**
-     * enable output for a stepper motor
-     *
-     * @param motor the stepper motor to enable
-     */
-    void enableStepper(STEPMOTORS_T motor);
-
-    /**
-     * disable output for a stepper motor
-     *
-     * @param motor the stepper motor to disable
-     */
-    void disableStepper(STEPMOTORS_T motor);
-
-    /**
-     * set the speed of a DC motor.  Values can range from 0 (off) to
-     * 100 (full speed).
-     *
-     * @param motor the DC motor to configure
-     * @param speed speed to set the motor to
-     */
-    void setMotorSpeed(DCMOTORS_T motor, int speed);
-
-    /**
-     * set the speed of a stepper in revolution per minute (RPM)
-     *
-     * @param motor the DC motor to configure
-     * @param speed speed to set the motor to
-     */
-    void setStepperSpeed(STEPMOTORS_T motor, int speed);
-
-    /**
-     * set the direction of a DC motor, clockwise or counter clockwise
-     *
-     * @param motor the DC motor to configure
-     * @param dir direction to set the motor to
-     */
-    void setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir);
- 
-    /**
-     * set the direction of a stepper motor, clockwise or counter clockwise
-     *
-     * @param motor the stepper motor to configure
-     * @param dir direction to set the motor to
-     */
-    void setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir);
- 
-    /**
-     * set a stepper motor configuration
-     *
-     * @param motor the stepper motor to configure
-     * @param stepsPerRev the number of step to complete a full revolution
-     */
-    void stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev);
-
-    /**
-     * step a stepper motor a specified number of steps
-     *
-     * @param motor the stepper motor to step
-     * @param steps number of steps to move the stepper motor
-     */
-    void stepperSteps(STEPMOTORS_T motor, unsigned int steps);
-
-  private:
-    // SWIG will generate warning for these 'nested structs', however
-    // those can be ignored as these structs are never exposed.
-
-    // struct to hold mappings of the dc motors
-    typedef struct {
-      int pwm;
-      int in1;
-      int in2;
-    } DC_PINMAP_T;
-
-    // struct to hold mappings of the stepper motors
-    typedef struct {
-      int pwmA;
-      int in1A;
-      int in2A;
-      int pwmB;
-      int in1B;
-      int in2B;
-    } STEPPER_PINMAP_T;
-
-    // struct to hold some information about each stepper
-    typedef struct {
-      int stepsPerRev;          // steps per revolution
-      int currentStep;          // current step number
-      uint32_t stepDelay;       // delay between steps
-      int stepDirection;        // direction to step
-      struct timeval startTime; // starting time
-    } STEPPER_CONFIG_T;
-
-    void setupPinMaps();
-    void stepperStep(STEPMOTORS_T motor);
-
-    DC_PINMAP_T m_dcMotors[4];
-    STEPPER_PINMAP_T m_stepMotors[2];
-    STEPPER_CONFIG_T m_stepConfig[2];
-
-    PCA9685 *m_pca9685;
-  };
-}
-
-

src/adafruitms1438/jsupm_adafruitms1438.i

@@ -1,8 +0,0 @@
-%module jsupm_adafruitms1438
-%include "../upm.i"
-
-%{
-    #include "adafruitms1438.h"
-%}
-
-%include "adafruitms1438.h"

src/adafruitms1438/pyupm_adafruitms1438.i

@@ -1,13 +0,0 @@
-%module pyupm_adafruitms1438
-%include "../upm.i"
-
-%feature("autodoc", "3");
-
-#ifdef DOXYGEN
-%include "adafruitms1438_doc.i"
-#endif
-
-%include "adafruitms1438.h"
-%{
-    #include "adafruitms1438.h"
-%}