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https://github.com/m5stack/M5Stack.git
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Gitshaoxiang
78457b190e
* rename some example file * add Unit exmaple sketch comment * add module example comment
153 lines
3.0 KiB
C++
153 lines
3.0 KiB
C++
#include "GoPlus.h"
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GoPlus::GoPlus(){
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}
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void GoPlus::begin(){
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Wire.begin();
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}
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void GoPlus::Servo_write_angle(uint8_t number, uint8_t angle) {
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(SERVO_ADDR | number);
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Wire.write(angle);
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Wire.endTransmission();
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}
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void GoPlus::Motor_write_speed(uint8_t number, uint8_t trun,uint8_t motor_speed) {
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(MOTOR_ADDR | number);
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Wire.write(trun);
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Wire.write(motor_speed);
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Wire.endTransmission();
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}
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uint16_t GoPlus::hub1_a_read_value(uint8_t reg){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB1_ADDR | reg);
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Wire.endTransmission();
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uint8_t RegValue_L,RegValue_H;
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Wire.requestFrom(GOPLUS_ADDR,1);
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while(Wire.available()){
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RegValue_L = Wire.read();
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}
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return RegValue_L;
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}
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uint16_t GoPlus::hub1_d_read_value(uint8_t reg){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB1_ADDR | reg);
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Wire.endTransmission();
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uint8_t RegValue_L,RegValue_H;
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Wire.requestFrom(GOPLUS_ADDR,2);
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while(Wire.available()){
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RegValue_L = Wire.read();
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RegValue_H = Wire.read();
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}
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return (RegValue_H<<8) | RegValue_L;
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}
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uint16_t GoPlus::hub2_d_read_value(uint8_t reg){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB2_ADDR | reg);
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Wire.endTransmission();
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uint8_t RegValue_L,RegValue_H;
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Wire.requestFrom(GOPLUS_ADDR,2);
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while(Wire.available()){
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RegValue_L = Wire.read();
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RegValue_H = Wire.read();
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}
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return (RegValue_H<<8) | RegValue_L;
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}
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uint16_t GoPlus::hub2_a_read_value(uint8_t reg){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB2_ADDR | reg);
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Wire.endTransmission();
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uint8_t RegValue_L,RegValue_H;
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Wire.requestFrom(GOPLUS_ADDR,1);
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while(Wire.available()){
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RegValue_L = Wire.read();
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}
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return RegValue_L;
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}
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uint16_t GoPlus::hub3_d_read_value(uint8_t reg){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB3_ADDR | reg);
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Wire.endTransmission();
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uint8_t RegValue_L,RegValue_H;
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Wire.requestFrom(GOPLUS_ADDR,2);
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while(Wire.available()){
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RegValue_L = Wire.read();
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RegValue_H = Wire.read();
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}
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return (RegValue_H<<8) | RegValue_L;
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}
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uint16_t GoPlus::hub3_a_read_value(uint8_t reg){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB3_ADDR | reg);
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Wire.endTransmission();
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uint8_t RegValue_L,RegValue_H;
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Wire.requestFrom(GOPLUS_ADDR,1);
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while(Wire.available()){
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RegValue_L = Wire.read();
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}
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return RegValue_L;
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}
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void GoPlus::hub1_wire_value(uint8_t reg,uint16_t value){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB1_ADDR | reg);
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Wire.write(value & 0xff);
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Wire.endTransmission();
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}
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void GoPlus::hub2_wire_value(uint8_t reg,uint16_t value){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB2_ADDR | reg);
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Wire.write(value & 0xff);
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Wire.endTransmission();
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}
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void GoPlus::hub3_wire_value(uint8_t reg,uint16_t value){
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Wire.beginTransmission(GOPLUS_ADDR);
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Wire.write(HUB3_ADDR | reg);
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Wire.write(value & 0xff);
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Wire.endTransmission();
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}
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