atduskgreg-rad 0.2.5

data/lib/libraries/Servo/Servo.h

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+/*
+  Servo.h - Arduino Software Servo Library
+  Author: ????
+  Modified: Brian Riley <brianbr@wulfden.org> Jun/Jul 2008
+  Copyright (c) 2007 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+#ifndef SERVO_IS_IN
+#define SERVO_IS_IN
+
+#include <inttypes.h>
+#include <wiring.h>
+
+#define	DEFLT_MINP	34
+#define	DEFLT_MAXP	150
+
+class Servo
+{
+  private:
+    uint8_t pin;
+    uint8_t angle;       // in degrees
+    uint16_t pulse0;     // pulse width in TCNT0 counts
+    uint8_t min16;       // minimum pulse, 16uS units  (default is DEFLT_MINP)
+    uint8_t max16;       // maximum pulse, 16uS units, 0-4ms range (default is DEFLT_MAXP)
+    class Servo *next;
+    static Servo* first;
+    void write(int);         // specify the angle in degrees, 0 to 180
+ public:
+    Servo();
+    uint8_t attach(int);     // attach to a pin, sets pinMode, returns 0 on failure, won't
+                             // position the servo until a subsequent write() happens
+    uint8_t attach(int,int);
+                             // same, except position is also is specified
+    uint8_t attach(int,uint16_t,uint16_t);
+                             // same, except min/max pulse is specified
+    uint8_t attach(int,int,uint16_t,uint16_t);
+                             // same, except position and min/max pulse is specified
+    void detach();
+    void position(int);		 // enter an angle from 0 to 180
+    void speed(int);		 // enter a speed from -90 to +90
+    uint8_t read();
+    uint8_t attached();
+    static void refresh();   // must be called at least every 50ms or so to keep servo alive
+                             // you can call more often, it won't happen more than once 
+                             // every 20ms
+};
+
+#endif

data/lib/libraries/Stepper/Stepper.cpp

@@ -0,0 +1,220 @@
+/*
+  Stepper.cpp - - Stepper library for Wiring/Arduino - Version 0.4
+  
+  Original library     (0.1) by Tom Igoe.
+  Two-wire modifications   (0.2) by Sebastian Gassner
+  Combination version   (0.3) by Tom Igoe and David Mellis
+  Bug fix for four-wire   (0.4) by Tom Igoe, bug fix from Noah Shibley  
+
+  Drives a unipolar or bipolar stepper motor using  2 wires or 4 wires
+
+  When wiring multiple stepper motors to a microcontroller,
+  you quickly run out of output pins, with each motor requiring 4 connections. 
+
+  By making use of the fact that at any time two of the four motor
+  coils are the inverse  of the other two, the number of
+  control connections can be reduced from 4 to 2. 
+
+  A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
+  connects to only 2 microcontroler pins, inverts the signals received,
+  and delivers the 4 (2 plus 2 inverted ones) output signals required
+  for driving a stepper motor.
+
+  The sequence of control signals for 4 control wires is as follows:
+
+  Step C0 C1 C2 C3
+     1  1  0  1  0
+     2  0  1  1  0
+     3  0  1  0  1
+     4  1  0  0  1
+
+  The sequence of controls signals for 2 control wires is as follows
+  (columns C1 and C2 from above):
+
+  Step C0 C1
+     1  0  1
+     2  1  1
+     3  1  0
+     4  0  0
+
+  The circuits can be found at 
+ 
+http://www.arduino.cc/en/Tutorial/Stepper
+ 
+ 
+ */
+
+
+#include "WProgram.h"
+#include "Stepper.h"
+
+/*
+ * two-wire constructor.
+ * Sets which wires should control the motor.
+ */
+Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2)
+{
+  this->step_number = 0;      // which step the motor is on
+  this->speed = 0;        // the motor speed, in revolutions per minute
+  this->direction = 0;      // motor direction
+  this->last_step_time = 0;    // time stamp in ms of the last step taken
+  this->number_of_steps = number_of_steps;    // total number of steps for this motor
+  
+  // Arduino pins for the motor control connection:
+  this->motor_pin_1 = motor_pin_1;
+  this->motor_pin_2 = motor_pin_2;
+
+  // setup the pins on the microcontroller:
+  pinMode(this->motor_pin_1, OUTPUT);
+  pinMode(this->motor_pin_2, OUTPUT);
+  
+  // When there are only 2 pins, set the other two to 0:
+  this->motor_pin_3 = 0;
+  this->motor_pin_4 = 0;
+  
+  // pin_count is used by the stepMotor() method:
+  this->pin_count = 2;
+}
+
+
+/*
+ *   constructor for four-pin version
+ *   Sets which wires should control the motor.
+ */
+
+Stepper::Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
+{
+  this->step_number = 0;      // which step the motor is on
+  this->speed = 0;        // the motor speed, in revolutions per minute
+  this->direction = 0;      // motor direction
+  this->last_step_time = 0;    // time stamp in ms of the last step taken
+  this->number_of_steps = number_of_steps;    // total number of steps for this motor
+  
+  // Arduino pins for the motor control connection:
+  this->motor_pin_1 = motor_pin_1;
+  this->motor_pin_2 = motor_pin_2;
+  this->motor_pin_3 = motor_pin_3;
+  this->motor_pin_4 = motor_pin_4;
+
+  // setup the pins on the microcontroller:
+  pinMode(this->motor_pin_1, OUTPUT);
+  pinMode(this->motor_pin_2, OUTPUT);
+  pinMode(this->motor_pin_3, OUTPUT);
+  pinMode(this->motor_pin_4, OUTPUT);
+
+  // pin_count is used by the stepMotor() method:  
+  this->pin_count = 4;  
+}
+
+/*
+  Sets the speed in revs per minute
+
+*/
+void Stepper::set_speed(long whatSpeed)
+{
+  this->step_delay = 60L * 1000L / this->number_of_steps / whatSpeed;
+}
+
+/*
+  Moves the motor steps_to_move steps.  If the number is negative, 
+   the motor moves in the reverse direction.
+ */
+void Stepper::set_steps(int steps_to_move)
+{  
+  int steps_left = abs(steps_to_move);  // how many steps to take
+  
+  // determine direction based on whether steps_to_mode is + or -:
+  if (steps_to_move > 0) {this->direction = 1;}
+  if (steps_to_move < 0) {this->direction = 0;}
+    
+    
+  // decrement the number of steps, moving one step each time:
+  while(steps_left > 0) {
+  // move only if the appropriate delay has passed:
+  if (millis() - this->last_step_time >= this->step_delay) {
+      // step the motor to step number 0, 1, 2, or 3:
+      stepMotor(this->step_number % 4);
+      // get the timeStamp of when you stepped:
+      this->last_step_time = millis();
+      // increment or decrement the step number,
+      // depending on direction:
+      if (this->direction == 1) {
+        this->step_number++;
+        if (this->step_number == this->number_of_steps) {
+          this->step_number = 0;
+        }
+      } 
+      else { 
+        if (this->step_number == 0) {
+          this->step_number = this->number_of_steps;
+        }
+        this->step_number--;
+      }
+      // decrement the steps left:
+      steps_left--;
+    }
+  }
+}
+
+/*
+ * Moves the motor forward or backwards.
+ */
+void Stepper::stepMotor(int thisStep)
+{
+  if (this->pin_count == 2) {
+    switch (thisStep) {
+      case 0: /* 01 */
+      digitalWrite(motor_pin_1, LOW);
+      digitalWrite(motor_pin_2, HIGH);
+      break;
+      case 1: /* 11 */
+      digitalWrite(motor_pin_1, HIGH);
+      digitalWrite(motor_pin_2, HIGH);
+      break;
+      case 2: /* 10 */
+      digitalWrite(motor_pin_1, HIGH);
+      digitalWrite(motor_pin_2, LOW);
+      break;
+      case 3: /* 00 */
+      digitalWrite(motor_pin_1, LOW);
+      digitalWrite(motor_pin_2, LOW);
+      break;
+    } 
+  }
+  if (this->pin_count == 4) {
+    switch (thisStep) {
+      case 0:    // 1010
+      digitalWrite(motor_pin_1, HIGH);
+      digitalWrite(motor_pin_2, LOW);
+      digitalWrite(motor_pin_3, HIGH);
+      digitalWrite(motor_pin_4, LOW);
+      break;
+      case 1:    // 0110
+      digitalWrite(motor_pin_1, LOW);
+      digitalWrite(motor_pin_2, HIGH);
+      digitalWrite(motor_pin_3, HIGH);
+      digitalWrite(motor_pin_4, LOW);
+      break;
+      case 2:    //0101
+      digitalWrite(motor_pin_1, LOW);
+      digitalWrite(motor_pin_2, HIGH);
+      digitalWrite(motor_pin_3, LOW);
+      digitalWrite(motor_pin_4, HIGH);
+      break;
+      case 3:    //1001
+      digitalWrite(motor_pin_1, HIGH);
+      digitalWrite(motor_pin_2, LOW);
+      digitalWrite(motor_pin_3, LOW);
+      digitalWrite(motor_pin_4, HIGH);
+      break;
+    } 
+  }
+}
+
+/*
+  version() returns the version of the library:
+*/
+int Stepper::version(void)
+{
+  return 4;
+}

data/lib/libraries/Stepper/Stepper.h

@@ -0,0 +1,86 @@
+/*
+  Stepper.h - - Stepper library for Wiring/Arduino - Version 0.4
+  
+  Original library     (0.1) by Tom Igoe.
+  Two-wire modifications   (0.2) by Sebastian Gassner
+  Combination version   (0.3) by Tom Igoe and David Mellis
+  Bug fix for four-wire   (0.4) by Tom Igoe, bug fix from Noah Shibley
+
+  Drives a unipolar or bipolar stepper motor using  2 wires or 4 wires
+
+  When wiring multiple stepper motors to a microcontroller,
+  you quickly run out of output pins, with each motor requiring 4 connections. 
+
+  By making use of the fact that at any time two of the four motor
+  coils are the inverse  of the other two, the number of
+  control connections can be reduced from 4 to 2. 
+
+  A slightly modified circuit around a Darlington transistor array or an L293 H-bridge
+  connects to only 2 microcontroler pins, inverts the signals received,
+  and delivers the 4 (2 plus 2 inverted ones) output signals required
+  for driving a stepper motor.
+
+  The sequence of control signals for 4 control wires is as follows:
+
+  Step C0 C1 C2 C3
+     1  1  0  1  0
+     2  0  1  1  0
+     3  0  1  0  1
+     4  1  0  0  1
+
+  The sequence of controls signals for 2 control wires is as follows
+  (columns C1 and C2 from above):
+
+  Step C0 C1
+     1  0  1
+     2  1  1
+     3  1  0
+     4  0  0
+
+  The circuits can be found at 
+  http://www.arduino.cc/en/Tutorial/Stepper
+*/
+
+// ensure this library description is only included once
+#ifndef Stepper_h
+#define Stepper_h
+
+// include types & constants of Wiring core API
+#include "WConstants.h"
+
+// library interface description
+class Stepper {
+  public:
+    // constructors:
+    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2);
+    Stepper(int number_of_steps, int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4);
+
+    // speed setter method:
+    void set_speed(long whatSpeed);
+
+    // mover method:
+    void set_steps(int number_of_steps);
+
+    int version(void);
+
+  private:
+    void stepMotor(int this_step);
+    
+    int direction;        // Direction of rotation
+    int speed;          // Speed in RPMs
+    unsigned long step_delay;    // delay between steps, in ms, based on speed
+    int number_of_steps;      // total number of steps this motor can take
+    int pin_count;        // whether you're driving the motor with 2 or 4 pins
+    int step_number;        // which step the motor is on
+    
+    // motor pin numbers:
+    int motor_pin_1;
+    int motor_pin_2;
+    int motor_pin_3;
+    int motor_pin_4;
+    
+    long last_step_time;      // time stamp in ms of when the last step was taken
+};
+
+#endif
+

data/lib/libraries/Stepper/keywords.txt

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+#######################################
+# Syntax Coloring Map For Test
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Stepper	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+step	KEYWORD2
+setSpeed	KEYWORD2
+version	KEYWORD2
+
+######################################
+# Instances (KEYWORD2)
+#######################################
+direction	KEYWORD2
+speed	KEYWORD2
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################

data/lib/libraries/Wire/Wire.cpp

@@ -0,0 +1,262 @@
+/*
+  TwoWire.cpp - TWI/I2C library for Wiring & Arduino
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+extern "C" {
+  #include <stdlib.h>
+  #include <string.h>
+  #include <inttypes.h>
+  #include "twi.h"
+}
+
+#include "Wire.h"
+
+// Initialize Class Variables //////////////////////////////////////////////////
+
+uint8_t* TwoWire::rxBuffer = 0;
+uint8_t TwoWire::rxBufferIndex = 0;
+uint8_t TwoWire::rxBufferLength = 0;
+
+uint8_t TwoWire::txAddress = 0;
+uint8_t* TwoWire::txBuffer = 0;
+uint8_t TwoWire::txBufferIndex = 0;
+uint8_t TwoWire::txBufferLength = 0;
+
+uint8_t TwoWire::transmitting = 0;
+void (*TwoWire::user_onRequest)(void);
+void (*TwoWire::user_onReceive)(int);
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+TwoWire::TwoWire()
+{
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void TwoWire::begin(void)
+{
+  // init buffer for reads
+  rxBuffer = (uint8_t*) calloc(BUFFER_LENGTH, sizeof(uint8_t));
+  rxBufferIndex = 0;
+  rxBufferLength = 0;
+
+  // init buffer for writes
+  txBuffer = (uint8_t*) calloc(BUFFER_LENGTH, sizeof(uint8_t));
+  txBufferIndex = 0;
+  txBufferLength = 0;
+
+  twi_init();
+}
+
+void TwoWire::begin(uint8_t address)
+{
+  twi_setAddress(address);
+  twi_attachSlaveTxEvent(onRequestService);
+  twi_attachSlaveRxEvent(onReceiveService);
+  begin();
+}
+
+void TwoWire::begin(int address)
+{
+  begin((uint8_t)address);
+}
+
+void TwoWire::requestFrom(uint8_t address, uint8_t quantity)
+{
+  // clamp to buffer length
+  if(quantity > BUFFER_LENGTH){
+    quantity = BUFFER_LENGTH;
+  }
+  // perform blocking read into buffer
+  twi_readFrom(address, rxBuffer, quantity);
+  // set rx buffer iterator vars
+  rxBufferIndex = 0;
+  rxBufferLength = quantity;
+}
+
+void TwoWire::requestFrom(int address, int quantity)
+{
+  requestFrom((uint8_t)address, (uint8_t)quantity);
+}
+
+void TwoWire::beginTransmission(uint8_t address)
+{
+  // indicate that we are transmitting
+  transmitting = 1;
+  // set address of targeted slave
+  txAddress = address;
+  // reset tx buffer iterator vars
+  txBufferIndex = 0;
+  txBufferLength = 0;
+}
+
+void TwoWire::beginTransmission(int address)
+{
+  beginTransmission((uint8_t)address);
+}
+
+void TwoWire::endTransmission(void)
+{
+  // transmit buffer (blocking)
+  twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
+  // reset tx buffer iterator vars
+  txBufferIndex = 0;
+  txBufferLength = 0;
+  // indicate that we are done transmitting
+  transmitting = 0;
+}
+
+// must be called in:
+// slave tx event callback
+// or after beginTransmission(address)
+void TwoWire::send(uint8_t data)
+{
+  if(transmitting){
+  // in master transmitter mode
+    // don't bother if buffer is full
+    if(txBufferLength >= BUFFER_LENGTH){
+      return;
+    }
+    // put byte in tx buffer
+    txBuffer[txBufferIndex] = data;
+    ++txBufferIndex;
+    // update amount in buffer   
+    txBufferLength = txBufferIndex;
+  }else{
+  // in slave send mode
+    // reply to master
+    twi_transmit(&data, 1);
+  }
+}
+
+// must be called in:
+// slave tx event callback
+// or after beginTransmission(address)
+void TwoWire::send(uint8_t* data, uint8_t quantity)
+{
+  if(transmitting){
+  // in master transmitter mode
+    for(uint8_t i = 0; i < quantity; ++i){
+      send(data[i]);
+    }
+  }else{
+  // in slave send mode
+    // reply to master
+    twi_transmit(data, quantity);
+  }
+}
+
+// must be called in:
+// slave tx event callback
+// or after beginTransmission(address)
+void TwoWire::send(char* data)
+{
+  send((uint8_t*)data, strlen(data));
+}
+
+// must be called in:
+// slave tx event callback
+// or after beginTransmission(address)
+void TwoWire::send(int data)
+{
+  send((uint8_t)data);
+}
+
+// must be called in:
+// slave rx event callback
+// or after requestFrom(address, numBytes)
+uint8_t TwoWire::available(void)
+{
+  return rxBufferLength - rxBufferIndex;
+}
+
+// must be called in:
+// slave rx event callback
+// or after requestFrom(address, numBytes)
+uint8_t TwoWire::receive(void)
+{
+  // default to returning null char
+  // for people using with char strings
+  uint8_t value = '\0';
+  
+  // get each successive byte on each call
+  if(rxBufferIndex < rxBufferLength){
+    value = rxBuffer[rxBufferIndex];
+    ++rxBufferIndex;
+  }
+
+  return value;
+}
+
+// behind the scenes function that is called when data is received
+void TwoWire::onReceiveService(uint8_t* inBytes, int numBytes)
+{
+  // don't bother if user hasn't registered a callback
+  if(!user_onReceive){
+    return;
+  }
+  // don't bother if rx buffer is in use by a master requestFrom() op
+  // i know this drops data, but it allows for slight stupidity
+  // meaning, they may not have read all the master requestFrom() data yet
+  if(rxBufferIndex < rxBufferLength){
+    return;
+  }
+  // copy twi rx buffer into local read buffer
+  // this enables new reads to happen in parallel
+  for(uint8_t i = 0; i < numBytes; ++i){
+    rxBuffer[i] = inBytes[i];    
+  }
+  // set rx iterator vars
+  rxBufferIndex = 0;
+  rxBufferLength = numBytes;
+  // alert user program
+  user_onReceive(numBytes);
+}
+
+// behind the scenes function that is called when data is requested
+void TwoWire::onRequestService(void)
+{
+  // don't bother if user hasn't registered a callback
+  if(!user_onRequest){
+    return;
+  }
+  // reset tx buffer iterator vars
+  // !!! this will kill any pending pre-master sendTo() activity
+  txBufferIndex = 0;
+  txBufferLength = 0;
+  // alert user program
+  user_onRequest();
+}
+
+// sets function called on slave write
+void TwoWire::onReceive( void (*function)(int) )
+{
+  user_onReceive = function;
+}
+
+// sets function called on slave read
+void TwoWire::onRequest( void (*function)(void) )
+{
+  user_onRequest = function;
+}
+
+// Preinstantiate Objects //////////////////////////////////////////////////////
+
+TwoWire Wire = TwoWire();
+