PololuMaestro.h

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// Copyright (C) Pololu Corporation.  See LICENSE.txt for details.

#pragma once

#include <Arduino.h>
#include <Stream.h>

class Maestro
{
  public:
    static const uint8_t deviceNumberDefault = 255;

    static const uint8_t noResetPin = 255;

    void reset();

    void setTargetMiniSSC(uint8_t channelNumber, uint8_t target);

    void setTarget(uint8_t channelNumber, uint16_t target);

    void setSpeed(uint8_t channelNumber, uint16_t speed);

    void setAcceleration(uint8_t channelNumber, uint16_t acceleration);

    void goHome();

    void stopScript();

    void restartScript(uint8_t subroutineNumber);

    void restartScriptWithParameter(uint8_t subroutineNumber, uint16_t parameter);

    uint16_t getPosition(uint8_t channelNumber);

    uint8_t getMovingState();

    uint8_t getScriptStatus();

    uint16_t getErrors();

  protected:
    Maestro(Stream &stream,
            uint8_t resetPin,
            uint8_t deviceNumber,
            bool CRCEnabled);

    void writeByte(uint8_t dataByte);
    void writeCRC();
    void writeCommand(uint8_t commandByte);
    void write7BitData(uint8_t data);
    void write14BitData(uint16_t data);
  private:
    static const uint8_t CRC7Polynomial = 0x91;
    static const uint8_t baudRateIndication = 0xAA;

    static const uint8_t miniSscCommand = 0xFF;
    static const uint8_t setTargetCommand = 0x84;
    static const uint8_t setSpeedCommand = 0x87;
    static const uint8_t setAccelerationCommand = 0x89;
    static const uint8_t getPositionCommand = 0x90;
    static const uint8_t getMovingStateCommand = 0x93;
    static const uint8_t getErrorsCommand = 0xA1;
    static const uint8_t goHomeCommand = 0xA2;
    static const uint8_t stopScriptCommand = 0xA4;
    static const uint8_t restartScriptAtSubroutineCommand = 0xA7;
    static const uint8_t restartScriptAtSubroutineWithParameterCommand = 0xA8;
    static const uint8_t getScriptStatusCommand = 0xAE;

    uint8_t _deviceNumber;
    uint8_t _resetPin;
    bool _CRCEnabled;
    uint8_t _CRCByte;
    Stream *_stream;
};

class MicroMaestro : public Maestro
{
  public:
    MicroMaestro(Stream &stream,
                 uint8_t resetPin = noResetPin,
                 uint8_t deviceNumber = deviceNumberDefault,
                 bool CRCEnabled = false);
};

class MiniMaestro : public Maestro
{
  public:
    MiniMaestro(Stream &stream,
                uint8_t resetPin = noResetPin,
                uint8_t deviceNumber = deviceNumberDefault,
                bool CRCEnabled = false);

    void setPWM(uint16_t onTime, uint16_t period);

    void setMultiTarget(uint8_t numberOfTargets,
                        uint8_t firstChannel,
                        uint16_t *targetList);

  private:
    static const uint8_t setPwmCommand = 0x8A;
    static const uint8_t setMultipleTargetsCommand = 0x9F;
};