MeEncoderNew.h

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#ifndef ME_LEGOENCODER_H
#define ME_LEGOENCODER_H
#include <Arduino.h>
#include <stdbool.h>
#include "MeConfig.h"
#include "MePort.h"
 
#define LEONARDO_PORT1
 
#if defined(UNO_PORT1) //10:PB3 11:PB2
#define SDA_PORT PORTB
#define SDA_PIN 3
#define SCL_PORT PORTB
#define SCL_PIN 2
#define I2C_SLOWMODE 1
#elif defined(UNO_PORT2) //3:PD3 9:PB1
#define SDA_PORT PORTD
#define SDA_PIN 3
#define SCL_PORT PORTB
#define SCL_PIN 1
#define I2C_SLOWMODE 1
#elif defined(LEONARDO_PORT1) //11:PB7 8:PB4
#define SDA_PORT PORTB
#define SDA_PIN 7
#define SCL_PORT PORTB
#define SCL_PIN 4
#define I2C_SLOWMODE 1
#elif defined(LEONARDO_PORT2) //13:PC7 12:PD6
#define SDA_PORT PORTC
#define SDA_PIN 7
#define SCL_PORT PORTD
#define SCL_PIN 6
#define I2C_SLOWMODE 1
#else
// change sda scl if you use a different pin mapping
#endif
 
#define PULSE_PER_C 8 
 
class MeEncoderNew{
public:
  MeEncoderNew(uint8_t addr,uint8_t slot);
 
  MeEncoderNew(uint8_t slot);
 
  MeEncoderNew(void);
 
  void begin(void);
  
  void setAddr(uint8_t i2cAddr,uint8_t slot);
 
  void reset(void);
 
  void move(long angle, float speed = 220, float lock_state = 1);
 
  void moveTo(long angle, float speed = 220, float lock_state = 1);
 
  void runTurns(long turns, float speed = 220,float lock_state = 1);
 
  void runSpeed(float speed,float lock_state = 1);
 
  float getCurrentSpeed(void);
 
  void setCurrentPosition(long pulse_counter);
 
  long getCurrentPosition(void);
 
  void setSpeedPID(float p,float i,float d);
 
  void setPosPID(float p,float i,float d);
 
  void getSpeedPID(float * p,float * i,float * d);
 
  void getPosPID(float * p,float * i,float * d);
 
  float getRatio(void);
 
  void setRatio(float r);
 
  int getPulse(void);
 
  void setPulse(int p);
 
  void setDevid(uint8_t devid);
 
  void setMode(uint8_t mode);
 
  void setPWM(int pwm);
 
  void runSpeedAndTime(float speed, float time, float lock_state = 1);
  
  boolean isTarPosReached(void);
 
void getFirmwareVersion(char *buffer);
 
private:
  void sendCmd(void);
 
  uint8_t _slot; 
  uint8_t address;
  unsigned long _lastTime;
  char cmdBuf[18];
};
 
#endif