Mega Multi expansion shield
rom.daros 2016-05-25 07:07:13 3161 Views2 Replies Hello,
I bought a Mega Multi Expansion shield, and I don't really know how to use it... When I plug my Motor shield directly to the Arduino Mega, my prgram runs well, but when I use the Expansion Shield and Lanch my program, nothing happens... How to define where my motor shield is located on the Mega Multi Expansion board ?
Best regards.
I bought a Mega Multi Expansion shield, and I don't really know how to use it... When I plug my Motor shield directly to the Arduino Mega, my prgram runs well, but when I use the Expansion Shield and Lanch my program, nothing happens... How to define where my motor shield is located on the Mega Multi Expansion board ?
Best regards.
2016-05-31 02:37:00 Hi there,
I didn't find the pin definition in the code, so it should be in the library in one of them.
You should find the .cpp or .h files and change there. Should you have any question, let me know. Leff
I didn't find the pin definition in the code, so it should be in the library in one of them.
Code: Select all
#include "Adafruit_MotorShield.h"
#include <Adafruit_MS_PWMServoDriver.h>You should find the .cpp or .h files and change there. Should you have any question, let me know.
Leff 2016-05-31 00:27:20 Thank your for your help Leff,
By the way, as I am a noob, could you show me where in the code should I change the Pin ? Below is the library of my adafruit motorshield.
Best regards.
rom.daros
By the way, as I am a noob, could you show me where in the code should I change the Pin ? Below is the library of my adafruit motorshield.
Best regards.
Code: Select all
/******************************************************************
This is the library for the Adafruit Motor Shield V2 for Arduino.
It supports DC motors & Stepper motors with microstepping as well
as stacking-support. It is *not* compatible with the V1 library!
It will only work with https://www.adafruit.com/products/1483
Adafruit invests time and resources providing this open
source code, please support Adafruit and open-source hardware
by purchasing products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, check license.txt for more information.
All text above must be included in any redistribution.
******************************************************************/
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <Wire.h>
#include "Adafruit_MotorShield.h"
#include <Adafruit_MS_PWMServoDriver.h>
#if defined(ARDUINO_SAM_DUE)
#define WIRE Wire1
#else
#define WIRE Wire
#endif
#if (MICROSTEPS == 8)
uint8_t microstepcurve[] = {0, 50, 98, 142, 180, 212, 236, 250, 255};
#elif (MICROSTEPS == 16)
uint8_t microstepcurve[] = {0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};
#endif
Adafruit_MotorShield::Adafruit_MotorShield(uint8_t addr) {
_addr = addr;
_pwm = Adafruit_MS_PWMServoDriver(_addr);
}
void Adafruit_MotorShield::begin(uint16_t freq) {
// init PWM w/_freq
WIRE.begin();
_pwm.begin();
_freq = freq;
_pwm.setPWMFreq(_freq); // This is the maximum PWM frequency
for (uint8_t i=0; i<16; i++)
_pwm.setPWM(i, 0, 0);
}
void Adafruit_MotorShield::setPWM(uint8_t pin, uint16_t value) {
if (value > 4095) {
_pwm.setPWM(pin, 4096, 0);
} else
_pwm.setPWM(pin, 0, value);
}
void Adafruit_MotorShield::setPin(uint8_t pin, boolean value) {
if (value == LOW)
_pwm.setPWM(pin, 0, 0);
else
_pwm.setPWM(pin, 4096, 0);
}
Adafruit_DCMotor *Adafruit_MotorShield::getMotor(uint8_t num) {
if (num > 4) return NULL;
num--;
if (dcmotors[num].motornum == 0) {
// not init'd yet!
dcmotors[num].motornum = num;
dcmotors[num].MC = this;
uint8_t pwm, in1, in2;
if (num == 0) {
pwm = 8; in2 = 9; in1 = 10;
} else if (num == 1) {
pwm = 13; in2 = 12; in1 = 11;
} else if (num == 2) {
pwm = 2; in2 = 3; in1 = 4;
} else if (num == 3) {
pwm = 7; in2 = 6; in1 = 5;
}
dcmotors[num].PWMpin = pwm;
dcmotors[num].IN1pin = in1;
dcmotors[num].IN2pin = in2;
}
return &dcmotors[num];
}
Adafruit_StepperMotor *Adafruit_MotorShield::getStepper(uint16_t steps, uint8_t num) {
if (num > 2) return NULL;
num--;
if (steppers[num].steppernum == 0) {
// not init'd yet!
steppers[num].steppernum = num;
steppers[num].revsteps = steps;
steppers[num].MC = this;
uint8_t pwma, pwmb, ain1, ain2, bin1, bin2;
if (num == 0) {
pwma = 8; ain2 = 9; ain1 = 10;
pwmb = 13; bin2 = 12; bin1 = 11;
} else if (num == 1) {
pwma = 2; ain2 = 3; ain1 = 4;
pwmb = 7; bin2 = 6; bin1 = 5;
}
steppers[num].PWMApin = pwma;
steppers[num].PWMBpin = pwmb;
steppers[num].AIN1pin = ain1;
steppers[num].AIN2pin = ain2;
steppers[num].BIN1pin = bin1;
steppers[num].BIN2pin = bin2;
}
return &steppers[num];
}
/******************************************
MOTORS
******************************************/
Adafruit_DCMotor::Adafruit_DCMotor(void) {
MC = NULL;
motornum = 0;
PWMpin = IN1pin = IN2pin = 0;
}
void Adafruit_DCMotor::run(uint8_t cmd) {
switch (cmd) {
case FORWARD:
MC->setPin(IN2pin, LOW); // take low first to avoid 'break'
MC->setPin(IN1pin, HIGH);
break;
case BACKWARD:
MC->setPin(IN1pin, LOW); // take low first to avoid 'break'
MC->setPin(IN2pin, HIGH);
break;
case RELEASE:
MC->setPin(IN1pin, LOW);
MC->setPin(IN2pin, LOW);
break;
}
}
void Adafruit_DCMotor::setSpeed(uint8_t speed) {
MC->setPWM(PWMpin, speed*16);
}
/******************************************
STEPPERS
******************************************/
Adafruit_StepperMotor::Adafruit_StepperMotor(void) {
revsteps = steppernum = currentstep = 0;
}
/*
uint16_t steps, Adafruit_MotorShield controller) {
revsteps = steps;
steppernum = 1;
currentstep = 0;
if (steppernum == 1) {
latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B) &
~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // all motor pins to 0
// enable both H bridges
pinMode(11, OUTPUT);
pinMode(3, OUTPUT);
digitalWrite(11, HIGH);
digitalWrite(3, HIGH);
// use PWM for microstepping support
MC->setPWM(1, 255);
MC->setPWM(2, 255);
} else if (steppernum == 2) {
latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B) &
~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // all motor pins to 0
// enable both H bridges
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
digitalWrite(5, HIGH);
digitalWrite(6, HIGH);
// use PWM for microstepping support
// use PWM for microstepping support
MC->setPWM(3, 255);
MC->setPWM(4, 255);
}
}
*/
void Adafruit_StepperMotor::setSpeed(uint16_t rpm) {
//Serial.println("steps per rev: "); Serial.println(revsteps);
//Serial.println("RPM: "); Serial.println(rpm);
usperstep = 60000000 / ((uint32_t)revsteps * (uint32_t)rpm);
}
void Adafruit_StepperMotor::release(void) {
MC->setPin(AIN1pin, LOW);
MC->setPin(AIN2pin, LOW);
MC->setPin(BIN1pin, LOW);
MC->setPin(BIN2pin, LOW);
MC->setPWM(PWMApin, 0);
MC->setPWM(PWMBpin, 0);
}
void Adafruit_StepperMotor::step(uint16_t steps, uint8_t dir, uint8_t style) {
uint32_t uspers = usperstep;
uint8_t ret = 0;
if (style == INTERLEAVE) {
uspers /= 2;
}
else if (style == MICROSTEP) {
uspers /= MICROSTEPS;
steps *= MICROSTEPS;
#ifdef MOTORDEBUG
Serial.print("steps = "); Serial.println(steps, DEC);
#endif
}
while (steps--) {
//Serial.println("step!"); Serial.println(uspers);
ret = onestep(dir, style);
delayMicroseconds(uspers);
}
}
uint8_t Adafruit_StepperMotor::onestep(uint8_t dir, uint8_t style) {
uint8_t a, b, c, d;
uint8_t ocrb, ocra;
ocra = ocrb = 255;
// next determine what sort of stepping procedure we're up to
if (style == SINGLE) {
if ((currentstep/(MICROSTEPS/2)) % 2) { // we're at an odd step, weird
if (dir == FORWARD) {
currentstep += MICROSTEPS/2;
}
else {
currentstep -= MICROSTEPS/2;
}
} else { // go to the next even step
if (dir == FORWARD) {
currentstep += MICROSTEPS;
}
else {
currentstep -= MICROSTEPS;
}
}
} else if (style == DOUBLE) {
if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird
if (dir == FORWARD) {
currentstep += MICROSTEPS/2;
} else {
currentstep -= MICROSTEPS/2;
}
} else { // go to the next odd step
if (dir == FORWARD) {
currentstep += MICROSTEPS;
} else {
currentstep -= MICROSTEPS;
}
}
} else if (style == INTERLEAVE) {
if (dir == FORWARD) {
currentstep += MICROSTEPS/2;
} else {
currentstep -= MICROSTEPS/2;
}
}
if (style == MICROSTEP) {
if (dir == FORWARD) {
currentstep++;
} else {
// BACKWARDS
currentstep--;
}
currentstep += MICROSTEPS*4;
currentstep %= MICROSTEPS*4;
ocra = ocrb = 0;
if ( (currentstep >= 0) && (currentstep < MICROSTEPS)) {
ocra = microstepcurve[MICROSTEPS - currentstep];
ocrb = microstepcurve[currentstep];
} else if ( (currentstep >= MICROSTEPS) && (currentstep < MICROSTEPS*2)) {
ocra = microstepcurve[currentstep - MICROSTEPS];
ocrb = microstepcurve[MICROSTEPS*2 - currentstep];
} else if ( (currentstep >= MICROSTEPS*2) && (currentstep < MICROSTEPS*3)) {
ocra = microstepcurve[MICROSTEPS*3 - currentstep];
ocrb = microstepcurve[currentstep - MICROSTEPS*2];
} else if ( (currentstep >= MICROSTEPS*3) && (currentstep < MICROSTEPS*4)) {
ocra = microstepcurve[currentstep - MICROSTEPS*3];
ocrb = microstepcurve[MICROSTEPS*4 - currentstep];
}
}
currentstep += MICROSTEPS*4;
currentstep %= MICROSTEPS*4;
#ifdef MOTORDEBUG
Serial.print("current step: "); Serial.println(currentstep, DEC);
Serial.print(" pwmA = "); Serial.print(ocra, DEC);
Serial.print(" pwmB = "); Serial.println(ocrb, DEC);
#endif
MC->setPWM(PWMApin, ocra*16);
MC->setPWM(PWMBpin, ocrb*16);
// release all
uint8_t latch_state = 0; // all motor pins to 0
//Serial.println(step, DEC);
if (style == MICROSTEP) {
if ((currentstep >= 0) && (currentstep < MICROSTEPS))
latch_state |= 0x03;
if ((currentstep >= MICROSTEPS) && (currentstep < MICROSTEPS*2))
latch_state |= 0x06;
if ((currentstep >= MICROSTEPS*2) && (currentstep < MICROSTEPS*3))
latch_state |= 0x0C;
if ((currentstep >= MICROSTEPS*3) && (currentstep < MICROSTEPS*4))
latch_state |= 0x09;
} else {
switch (currentstep/(MICROSTEPS/2)) {
case 0:
latch_state |= 0x1; // energize coil 1 only
break;
case 1:
latch_state |= 0x3; // energize coil 1+2
break;
case 2:
latch_state |= 0x2; // energize coil 2 only
break;
case 3:
latch_state |= 0x6; // energize coil 2+3
break;
case 4:
latch_state |= 0x4; // energize coil 3 only
break;
case 5:
latch_state |= 0xC; // energize coil 3+4
break;
case 6:
latch_state |= 0x8; // energize coil 4 only
break;
case 7:
latch_state |= 0x9; // energize coil 1+4
break;
}
}
#ifdef MOTORDEBUG
Serial.print("Latch: 0x"); Serial.println(latch_state, HEX);
#endif
if (latch_state & 0x1) {
// Serial.println(AIN2pin);
MC->setPin(AIN2pin, HIGH);
} else {
MC->setPin(AIN2pin, LOW);
}
if (latch_state & 0x2) {
MC->setPin(BIN1pin, HIGH);
// Serial.println(BIN1pin);
} else {
MC->setPin(BIN1pin, LOW);
}
if (latch_state & 0x4) {
MC->setPin(AIN1pin, HIGH);
// Serial.println(AIN1pin);
} else {
MC->setPin(AIN1pin, LOW);
}
if (latch_state & 0x8) {
MC->setPin(BIN2pin, HIGH);
// Serial.println(BIN2pin);
} else {
MC->setPin(BIN2pin, LOW);
}
return currentstep;
}
