Motors working

pom.xml

@@ -29,6 +29,11 @@
     </properties>
 
     <dependencies>
+        <dependency>
+            <groupId>com.pi4j</groupId>
+            <artifactId>pi4j-plugin-linuxfs</artifactId>
+            <version>${pi4j.version}</version>
+        </dependency>
         <dependency>
             <groupId>org.slf4j</groupId>
             <artifactId>slf4j-api</artifactId>

src/main/java/com/tearabite/Board.java

@@ -0,0 +1,403 @@
+package com.tearabite;
+
+import com.pi4j.Pi4J;
+import com.pi4j.context.Context;
+import com.pi4j.context.ContextBuilder;
+import com.pi4j.io.i2c.I2C;
+import com.pi4j.io.i2c.I2CConfig;
+import com.pi4j.io.i2c.I2CProvider;
+import com.pi4j.library.pigpio.PiGpio;
+
+public class Board {
+
+
+    private static final int __ADC_BAT_ADDR = 0;
+    private static final int __SERVO_ADDR   = 21;
+    private static final int __MOTOR_ADDR   = 31;
+    private static final int __SERVO_ADDR_CMD  = 40;
+
+    private final int[]__motor_speed = new int[] { 0, 0, 0, 0 };
+    private final int[] __servo_angle = new int[] { 0, 0, 0, 0, 0, 0 };
+    private final int[] __servo_pulse = new int[] { 0, 0, 0, 0, 0, 0 };
+    private static final int __I2C = 0x1;
+    private static final int __I2C_ADDR = 0x7A;
+
+//            GPIO.setwarnings(False)
+//            GPIO.setmode(GPIO.BOARD)
+
+    private static final int __RGB_COUNT = 2;
+    private static final int __RGB_PIN = 12;
+    private static final int __RGB_FREQ_HZ = 800000;
+    private static final int __RGB_DMA = 10;
+    private static final int __RGB_BRIGHTNESS = 120;
+    private static final int __RGB_CHANNEL = 0;
+    private static final boolean __RGB_INVERT = false;
+    private final Context pi4j;
+    private final I2C device;
+
+
+//            RGB = PixelStrip(__RGB_COUNT, __RGB_PIN, __RGB_FREQ_HZ, __RGB_DMA, __RGB_INVERT, __RGB_BRIGHTNESS, __RGB_CHANNEL)
+//RGB.begin()
+//        for i in range(RGB.numPixels()):
+//            RGB.setPixelColor(i, PixelColor(0,0,0))
+//            RGB.show()
+
+
+
+    public Board() {
+        ContextBuilder pi4jb = Pi4J.newContextBuilder();
+        this.pi4j = pi4jb.autoDetect().build();
+        I2CProvider i2CProvider = pi4j.provider("linuxfs-i2c");
+        I2CConfig i2cConfig = I2C.newConfigBuilder(pi4j).id("HiwonderMasterPi").bus(__I2C).device(__ADC_BAT_ADDR).build();
+        device =  i2CProvider.create(i2cConfig);
+    }
+
+    public int setMotor(int index, int speed) {
+        if (index < 1 || index > 4) {
+            throw new IllegalArgumentException(String.format("Invalid motor num: %d", index));
+        }
+
+        speed = Math.max(Math.min(speed, 100), -100);
+
+        byte reg = (byte) (__MOTOR_ADDR + --index);
+        device.writeRegister(reg, speed);
+        this.__motor_speed[index] = speed;
+        return __motor_speed[index];
+    }
+
+    public DcMotor getMotor(int index) {
+        return new DcMotor(this, index);
+    }
+
+//
+//    def getMotor(index):
+//            if index < 1 or index > 4:
+//    raise AttributeError("Invalid motor num: %d"%index)
+//    index = index - 1
+//            return __motor_speed[index]
+//
+//    def setPWMServoAngle(index, angle):
+//            if servo_id < 1 or servo_id > 6:
+//    raise AttributeError("Invalid Servo ID: %d"%servo_id)
+//    index = servo_id - 1
+//    angle = 180 if angle > 180 else angle
+//            angle = 0 if angle < 0 else angle
+//            reg = __SERVO_ADDR + index
+//    with SMBus(__I2C) as bus:
+//            try:
+//    msg = i2c_msg.write(__I2C_ADDR, [reg, angle])
+//            bus.i2c_rdwr(msg)
+//    __servo_angle[index] = angle
+//    __servo_pulse[index] = int(((200 * angle) / 9) + 500)
+//
+//    except:
+//    msg = i2c_msg.write(__I2C_ADDR, [reg, angle])
+//            bus.i2c_rdwr(msg)
+//    __servo_angle[index] = angle
+//    __servo_pulse[index] = int(((200 * angle) / 9) + 500)
+//
+//            return __servo_angle[index]
+//
+//    def setPWMServoPulse(servo_id, pulse = 1500, use_time = 1000):
+//            if servo_id< 1 or servo_id > 6:
+//    raise AttributeError("Invalid Servo ID: %d" %servo_id)
+//    deviation_data = yaml_handle.get_yaml_data(yaml_handle.Deviation_file_path)
+//    index = servo_id - 1
+//    pulse += deviation_data[str(servo_id)]
+//    pulse = 500 if pulse < 500 else pulse
+//            pulse = 2500 if pulse > 2500 else pulse
+//            use_time = 0 if use_time < 0 else use_time
+//            use_time = 30000 if use_time > 30000 else use_time
+//    buf = [__SERVO_ADDR_CMD, 1] + list(use_time.to_bytes(2, 'little')) + [servo_id,] + list(pulse.to_bytes(2, 'little'))
+//
+//    with SMBus(__I2C) as bus:
+//            try:
+//    msg = i2c_msg.write(__I2C_ADDR, buf)
+//            bus.i2c_rdwr(msg)
+//    __servo_pulse[index] = pulse
+//    __servo_angle[index] = int((pulse - 500) * 0.09)
+//    except BaseException as e:
+//    print(e)
+//    msg = i2c_msg.write(__I2C_ADDR, buf)
+//            bus.i2c_rdwr(msg)
+//    __servo_pulse[index] = pulse
+//    __servo_angle[index] = int((pulse - 500) * 0.09)
+//
+//            return __servo_pulse[index]
+//
+//    def setPWMServosPulse(args):
+//            ''' time,number, id1, pos1, id2, pos2...'''
+//    deviation_data = yaml_handle.get_yaml_data(yaml_handle.Deviation_file_path)
+//    arglen = len(args)
+//    servos = args[2:arglen:2]
+//    pulses = args[3:arglen:2]
+//    use_time = args[0]
+//    use_time = 0 if use_time < 0 else use_time
+//            use_time = 30000 if use_time > 30000 else use_time
+//            servo_number = args[1]
+//    buf = [__SERVO_ADDR_CMD, servo_number] + list(use_time.to_bytes(2, 'little'))
+//    dat = zip(servos, pulses)
+//    for (s, p) in dat:
+//            buf.append(s)
+//    p += deviation_data[str(s)]
+//    p = 500 if p < 500 else p
+//            p = 2500 if p > 2500 else p
+//    buf += list(p.to_bytes(2, 'little'))
+//    __servo_pulse[s-1] = p
+//    __servo_angle[s-1] = int((p - 500) * 0.09)
+//
+//    with SMBus(__I2C) as bus:
+//            try:
+//    msg = i2c_msg.write(__I2C_ADDR, buf)
+//            bus.i2c_rdwr(msg)
+//    except:
+//    msg = i2c_msg.write(__I2C_ADDR, buf)
+//            bus.i2c_rdwr(msg)
+//
+//
+//    def getPWMServoAngle(servo_id):
+//            if servo_id < 1 or servo_id > 6:
+//    raise AttributeError("Invalid Servo ID: %d"%servo_id)
+//    index = servo_id - 1
+//            return __servo_pulse[index]
+//
+//    def getPWMServoPulse(servo_id):
+//            if servo_id < 1 or servo_id > 6:
+//    raise AttributeError("Invalid Servo ID: %d"%servo_id)
+//    index = servo_id - 1
+//            return __servo_pulse[index]
+//
+//    def getBattery():
+//    ret = 0
+//    with SMBus(__I2C) as bus:
+//            try:
+//    msg = i2c_msg.write(__I2C_ADDR, [__ADC_BAT_ADDR,])
+//            bus.i2c_rdwr(msg)
+//    read = i2c_msg.read(__I2C_ADDR, 2)
+//            bus.i2c_rdwr(read)
+//    ret = int.from_bytes(bytes(list(read)), 'little')
+//
+//    except:
+//    msg = i2c_msg.write(__I2C_ADDR, [__ADC_BAT_ADDR,])
+//            bus.i2c_rdwr(msg)
+//    read = i2c_msg.read(__I2C_ADDR, 2)
+//            bus.i2c_rdwr(read)
+//    ret = int.from_bytes(bytes(list(read)), 'little')
+//
+//            return ret
+//
+//    def setBuzzer(new_state):
+//            GPIO.setup(31, GPIO.OUT)
+//            GPIO.output(31, new_state)
+//
+//    def setBusServoID(oldid, newid):
+//            """
+//    配置舵机id号, 出厂默认为1
+//    :param oldid: 原来的id， 出厂默认为1
+//    :param newid: 新的id
+//    """
+//    serial_serro_wirte_cmd(oldid, LOBOT_SERVO_ID_WRITE, newid)
+//
+//    def getBusServoID(id=None):
+//            """
+//    读取串口舵机id
+//    :param id: 默认为空
+//    :return: 返回舵机id
+//    """
+//
+//            while True:
+//            if id is None:  # 总线上只能有一个舵机
+//    serial_servo_read_cmd(0xfe, LOBOT_SERVO_ID_READ)
+//        else:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_ID_READ)
+//        # 获取内容
+//            msg = serial_servo_get_rmsg(LOBOT_SERVO_ID_READ)
+//        if msg is not None:
+//            return msg
+//
+//    def setBusServoPulse(id, pulse, use_time):
+//            """
+//    驱动串口舵机转到指定位置
+//    :param id: 要驱动的舵机id
+//    :pulse: 位置
+//    :use_time: 转动需要的时间
+//    """
+//
+//    pulse = 0 if pulse < 0 else pulse
+//            pulse = 1000 if pulse > 1000 else pulse
+//            use_time = 0 if use_time < 0 else use_time
+//            use_time = 30000 if use_time > 30000 else use_time
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_MOVE_TIME_WRITE, pulse, use_time)
+//
+//    def stopBusServo(id=None):
+//            '''
+//    停止舵机运行
+//    :param id:
+//            :return:
+//            '''
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_MOVE_STOP)
+//
+//    def setBusServoDeviation(id, d=0):
+//            """
+//    调整偏差
+//    :param id: 舵机id
+//    :param d:  偏差
+//    """
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_ANGLE_OFFSET_ADJUST, d)
+//
+//    def saveBusServoDeviation(id):
+//            """
+//    配置偏差，掉电保护
+//    :param id: 舵机id
+//    """
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_ANGLE_OFFSET_WRITE)
+//
+//    time_out = 50
+//    def getBusServoDeviation(id):
+//            '''
+//    读取偏差值
+//    :param id: 舵机号
+//    :return:
+//            '''
+//            # 发送读取偏差指令
+//            count = 0
+//    while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_ANGLE_OFFSET_READ)
+//        # 获取
+//            msg = serial_servo_get_rmsg(LOBOT_SERVO_ANGLE_OFFSET_READ)
+//    count += 1
+//            if msg is not None:
+//            return msg
+//        if count > time_out:
+//            return None
+//
+//    def setBusServoAngleLimit(id, low, high):
+//            '''
+//    设置舵机转动范围
+//    :param id:
+//            :param low:
+//            :param high:
+//            :return:
+//            '''
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_ANGLE_LIMIT_WRITE, low, high)
+//
+//    def getBusServoAngleLimit(id):
+//            '''
+//    读取舵机转动范围
+//    :param id:
+//            :return: 返回元祖 0： 低位  1： 高位
+//    '''
+//
+//            while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_ANGLE_LIMIT_READ)
+//    msg = serial_servo_get_rmsg(LOBOT_SERVO_ANGLE_LIMIT_READ)
+//        if msg is not None:
+//    count = 0
+//            return msg
+//
+//    def setBusServoVinLimit(id, low, high):
+//            '''
+//    设置舵机电压范围
+//    :param id:
+//            :param low:
+//            :param high:
+//            :return:
+//            '''
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_VIN_LIMIT_WRITE, low, high)
+//
+//    def getBusServoVinLimit(id):
+//            '''
+//    读取舵机转动范围
+//    :param id:
+//            :return: 返回元祖 0： 低位  1： 高位
+//    '''
+//            while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_VIN_LIMIT_READ)
+//    msg = serial_servo_get_rmsg(LOBOT_SERVO_VIN_LIMIT_READ)
+//        if msg is not None:
+//            return msg
+//
+//    def setBusServoMaxTemp(id, m_temp):
+//            '''
+//    设置舵机最高温度报警
+//    :param id:
+//            :param m_temp:
+//            :return:
+//            '''
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_TEMP_MAX_LIMIT_WRITE, m_temp)
+//
+//    def getBusServoTempLimit(id):
+//            '''
+//    读取舵机温度报警范围
+//    :param id:
+//            :return:
+//            '''
+//
+//            while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_TEMP_MAX_LIMIT_READ)
+//    msg = serial_servo_get_rmsg(LOBOT_SERVO_TEMP_MAX_LIMIT_READ)
+//        if msg is not None:
+//            return msg
+//
+//    def getBusServoPulse(id):
+//            '''
+//    读取舵机当前位置
+//    :param id:
+//            :return:
+//            '''
+//            while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_POS_READ)
+//    msg = serial_servo_get_rmsg(LOBOT_SERVO_POS_READ)
+//        if msg is not None:
+//            return msg
+//
+//    def getBusServoTemp(id):
+//            '''
+//    读取舵机温度
+//    :param id:
+//            :return:
+//            '''
+//            while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_TEMP_READ)
+//    msg = serial_servo_get_rmsg(LOBOT_SERVO_TEMP_READ)
+//        if msg is not None:
+//            return msg
+//
+//    def getBusServoVin(id):
+//            '''
+//    读取舵机电压
+//    :param id:
+//            :return:
+//            '''
+//            while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_VIN_READ)
+//    msg = serial_servo_get_rmsg(LOBOT_SERVO_VIN_READ)
+//        if msg is not None:
+//            return msg
+//
+//    def restBusServoPulse(oldid):
+//            # 舵机清零偏差和P值中位（500）
+//    serial_servo_set_deviation(oldid, 0)    # 清零偏差
+//    time.sleep(0.1)
+//    serial_serro_wirte_cmd(oldid, LOBOT_SERVO_MOVE_TIME_WRITE, 500, 100)    # 中位
+//
+//##掉电
+//    def unloadBusServo(id):
+//    serial_serro_wirte_cmd(id, LOBOT_SERVO_LOAD_OR_UNLOAD_WRITE, 0)
+//
+//##读取是否掉电
+//    def getBusServoLoadStatus(id):
+//            while True:
+//    serial_servo_read_cmd(id, LOBOT_SERVO_LOAD_OR_UNLOAD_READ)
+//    msg = serial_servo_get_rmsg(LOBOT_SERVO_LOAD_OR_UNLOAD_READ)
+//        if msg is not None:
+//            return msg
+//
+//    setBuzzer(0)
+//
+//# setMotor(1, 60)
+//# setMotor(2, 60)
+//# setMotor(3, 60)
+//# setMotor(4, 60)
+}
+

src/main/java/com/tearabite/DcMotor.java

@@ -0,0 +1,23 @@
+package com.tearabite;
+
+public class DcMotor {
+    private final Board board;
+    private final int index;
+    private int multiplier = 1;
+
+    public DcMotor(Board board, int index) {
+        this.board = board;
+        this.index = index;
+    }
+
+    public void setPower(double power) {
+        int speed = (int) (100 * power * multiplier);
+        this.board.setMotor(index, speed);
+    }
+
+    public void setDirection(Direction direction) {
+        this.multiplier = Direction.Reversed.equals(direction) ? -1 : 1;
+    }
+
+    public enum Direction { Forward, Reversed }
+}

src/main/java/com/tearabite/Main.java

@@ -11,11 +11,11 @@ import com.pi4j.io.gpio.digital.DigitalOutput;
 import com.pi4j.io.gpio.digital.DigitalState;
 import com.pi4j.platform.Platforms;
 import com.pi4j.util.Console;
+
 import java.lang.reflect.InvocationTargetException;
 
 /**
- *
+ * @author Scott Barnes
- * @author luca
  */
 public class Main {
 
@@ -44,34 +44,37 @@ public class Main {
     }
 
     private void run(Context pi4j) throws Exception {
-        Platforms platforms = pi4j.platforms();
+        Board board = new Board();
+        DcMotor a = board.getMotor(1);
+        DcMotor b = board.getMotor(2);
+        DcMotor c = board.getMotor(4);
+        DcMotor d = board.getMotor(3);
 
-        console.box("Pi4J PLATFORMS");
+        a.setDirection(DcMotor.Direction.Forward);
-        console.println();
+        b.setDirection(DcMotor.Direction.Reversed);
-        platforms.describe().print(System.out);
+        c.setDirection(DcMotor.Direction.Reversed);
-        console.println();
+        d.setDirection(DcMotor.Direction.Forward);
 
-        var ledConfig = DigitalOutput.newConfigBuilder(pi4j)
+        for (int i = 0; i < 5; i++) {
-                        .id("led")
+            a.setPower(100f);
-                        .name("LED Flasher")
+            Thread.sleep(500);
-                        .address(PIN_LED)
+            a.setPower(0f);
-                        .shutdown(DigitalState.LOW)
+            Thread.sleep(500);
-                        .initial(DigitalState.LOW)
+
-                        .provider("pigpio-digital-output");
+            b.setPower(100f);
-
+            Thread.sleep(500);
-        var led = pi4j.create(ledConfig);
+            b.setPower(0f);
-        int counter = 0;
+            Thread.sleep(500);
-        while (counter < 50) {
+
-            if (led.equals(DigitalState.HIGH)) {
+            c.setPower(100f);
-                led.low();
+            Thread.sleep(500);
-                System.out.println("low");
+            c.setPower(0f);
-            } else {
+            Thread.sleep(500);
-                led.high();
+
-                System.out.println("high");
+            d.setPower(100f);
-            }
+            Thread.sleep(500);
+            d.setPower(0f);
             Thread.sleep(500);
-            counter++;
         }
     }
-
 }

src/main/java/com/tearabite/Robot.java

@@ -0,0 +1,10 @@
+package com.tearabite;
+
+public class Robot {
+
+    private Drive drive;
+
+    public Robot() {
+
+    }
+}

target/maven-status/maven-compiler-plugin/compile/default-compile/createdFiles.lst

@@ -1,2 +1,6 @@
-module-info.class
+com/tearabite/Board.class
+com/tearabite/DcMotor.class
 com/tearabite/Main.class
+module-info.class
+com/tearabite/Robot.class
+com/tearabite/DcMotor$Direction.class

target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst

@@ -1,2 +1,3 @@
+/Users/scott/Developer/EagleBot/eaglebot/src/main/java/com/tearabite/Board.java
 /Users/scott/Developer/EagleBot/eaglebot/src/main/java/module-info.java
 /Users/scott/Developer/EagleBot/eaglebot/src/main/java/com/tearabite/Main.java