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vany5921
85 lines
2.1 KiB
C++
85 lines
2.1 KiB
C++
#ifndef __GOPLUS2_H__
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#define __GOPLUS2_H__
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#include <Wire.h>
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#define GOPLUS_ADDR 0x38 //I2C ADDR
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#define SERVO_ADDR 0x00 //SERVO angle register
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#define PLUSE_ADDR 0x10 //SERVO pluse width register
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#define SERVO_NUM0 0x00
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#define SERVO_NUM1 0x01
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#define SERVO_NUM2 0x02
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#define SERVO_NUM3 0x03
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#define SERVO_NUM0_PW 0x00
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#define SERVO_NUM1_PW 0x02
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#define SERVO_NUM2_PW 0x04
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#define SERVO_NUM3_PW 0x06
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#define MOTOR_ADDR 0x30 //MOTOR register
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#define MOTOR_NUM0 0x00
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#define MOTOR_NUM1 0x01
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#define HUB1_R_ADDR 0x00
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#define HUB2_R_ADDR 0x02
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#define HUB3_R_ADDR 0x04
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#define HUB1_W_ADDR 0x00
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#define HUB2_W_ADDR 0x01
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#define HUB3_W_ADDR 0x02
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#define HUB_READ_ANALOG 0x40 //HUB ANALOG_INPUT register
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#define HUB_READ_DIGITAL 0x50 //HUB DIGITAL_INPUT register
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#define HUB_WIRE 0x60 // HUB DIGITAL_OUTPUT register
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#define HUB_READ_O_DIGITAL 0x70 // HUB DIGITAL_INPUT2(the 'O' pin) register,pull_up
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#define HUB1_R_O_ADDR 0x00
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#define HUB2_R_O_ADDR 0x01
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#define HUB3_R_O_ADDR 0x02
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#define HUB_IO_SET 0x80 //HUB SET INPUT(1) OR OUTPUT(0) mode (OUTPUT by default)
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class GoPlus2 {
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public:
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GoPlus2();
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void begin();
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void Servo_write_angle(uint8_t number, uint8_t angle);
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void Servo_write_plusewidth(uint8_t number, uint16_t width);
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void Motor_write_speed(uint8_t number, int motor_speed);
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uint16_t hub1_a_read_value(uint8_t reg);
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uint16_t hub1_d_read_value(uint8_t reg);
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uint16_t hub2_d_read_value(uint8_t reg);
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uint16_t hub3_d_read_value(uint8_t reg);
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uint16_t hub2_a_read_value(uint8_t reg);
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uint16_t hub3_a_read_value(uint8_t reg);
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void hub1_wire_value(uint8_t reg,uint8_t value);
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void hub2_wire_value(uint8_t reg,uint8_t value);
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void hub3_wire_value(uint8_t reg,uint8_t value);
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void hub1_set_io(uint8_t reg, uint8_t value);
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void hub2_set_io(uint8_t reg, uint8_t value);
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void hub3_set_io(uint8_t reg, uint8_t value);
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uint8_t hub1_d_o_read_value(uint8_t reg);
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uint8_t hub2_d_o_read_value(uint8_t reg);
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uint8_t hub3_d_o_read_value(uint8_t reg);
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};
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#endif
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