A class representing an Allegro ACS712 5A current sensor connected to a SW8B Analog input on a PCB0031 Grip board. More...

#include <PCB0031_Grip.h>

Inheritance diagram for GripACS712:

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Collaboration diagram for GripACS712:

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Public Member Functions
	GripACS712 (SerialWombatChip &serialWombatChip)
	Constructor for the GripACS712 Class.

int16_t	begin (uint8_t pin)
	Initialize a GripACS712 on the specified pin.

uint16_t	calibrateIdleCurrent ()
	called to set the zero calibration current

int16_t	readCurrent_mA ()
	returns the current reading in Milliamps. May be negative

Public Member Functions inherited from SerialWombatAnalogInput_18AB
	SerialWombatAnalogInput_18AB (SerialWombatChip &serialWombat)

uint8_t	pin ()
	Used for inheritance.

uint8_t	swPinModeNumber ()
	Used for ineheritance.

Public Member Functions inherited from SerialWombatAnalogInput
	SerialWombatAnalogInput (SerialWombatChip &SerialWombatChip)
	Constructor for the SerialWombatAnalogInput class.

int16_t	begin (uint8_t pin, uint16_t averageSamples=64, uint16_t filterConstant=0xFF80, AnalogInputPublicDataOutput output=AnalogInputPublicDataOutput::AnalogInputPublicDataOutput_Raw)
	Initialize an analog input on a given pin.

uint16_t	readVoltage_mV ()
	Retreive a raw A/D measurement and convert it to mV.

uint16_t	readCounts ()
	Retreive a raw A/D measurement.

uint16_t	readFiltered_mV ()
	Retreive a filtered A/D measurement and convert it to mV.

uint16_t	readFilteredCounts ()
	Retreive a filtered A/D measurement.

uint16_t	readAveraged_mV ()
	Retreive an averaged A/D measurement and convert it to mV.

uint16_t	readAveragedCounts ()
	Retreive an averaged A/D measurement.

uint16_t	updateSupplyVoltage_mV ()
	Provides a wrapper around the readSupplyVoltage_mV() method for the SerialWombat chip hosting this pin mode.

uint16_t	readMaximum_mV (bool resetAfterRead=false)
	Retreive the maximum single sample A/D value in mV.

uint16_t	readMaximumCounts (bool resetAfterRead=false)

uint16_t	readMinimum_mV (bool resetAfterRead=false)

uint16_t	readMinimumCounts (bool resetAfterRead=false)
	Retreive the maximum single sample A/D value in counts.

Public Member Functions inherited from SerialWombatPin
	SerialWombatPin (SerialWombatChip &serialWombatChip)
	Instantiates a Serial Wombat Pin.

	SerialWombatPin (SerialWombatChip &serialWombatChip, uint8_t pin)
	Instantiates a Serial Wombat Pin.

uint16_t	readPublicData ()
	Read the 16 Bit public data associated with this pin.

void	pinMode (uint8_t mode, bool pullDown=false, bool openDrain=false)
	Set pin to INPUT or OUTPUT, with options for pull Ups and open Drain settings.

void	digitalWrite (uint8_t val)
	Set output pin High or Low.

int	digitalRead ()
	Reads the state of the Pin.

uint16_t	writePublicData (uint16_t value)
	Write a 16 bit value to this pin.

uint8_t	pin ()
	Returns the current SW pin number. Used primarily for virtual calls by derived classes.

uint8_t	swPinModeNumber ()
	Returns the Mode number. Used primarily by derived classes to populate packet data.

int16_t	initPacketNoResponse (uint8_t packetNumber, uint8_t param0=0x55, uint8_t param1=0x55, uint8_t param2=0x55, uint8_t param3=0x55, uint8_t param4=0x55)

int16_t	initPacketNoResponse (uint8_t packetNumber, uint16_t param0=0x55, uint8_t param1=0x55, uint8_t param2=0x55, uint8_t param3=0x55)

int16_t	initPacketNoResponse (uint8_t packetNumber, uint16_t param0, uint16_t param1, uint8_t param2=0x55)

int16_t	disable ()
	Disables the pin mode (if applicable)

int16_t	enablePullup (bool enabled)
	Enables the weak pull up on a pin. Implemented on SW18AB and SW8B only.

int16_t	enablePulldown (bool enabled)
	Enables the weak pull down on a pin. Implemented on SW18AB and SW8B only.

int16_t	enableOpenDrain (bool enabled)
	Enables open drain mode on a pin. Implemented on SW18AB and SW8B only.

int16_t	forceDMA (bool enabled)
	Forces use of DMA instead of hardware timing resources on SW18AB.

Public Member Functions inherited from SerialWombatAbstractProcessedInput
	SerialWombatAbstractProcessedInput (SerialWombatChip &sw)
	Constructor for the SerialWombatAbstractScaledOutput Class.

int16_t	writeInverted (bool inverted)
	if enabled subtract the input value from 65535 before doing any other processing.

int16_t	writeFirstOrderFilteringConstant (uint16_t constant)
	Set a first order filtering constant to be applied to the signal Higher is heavier filtering.

int16_t	writeAveragingNumberOfSamples (uint16_t numberOfSamples)
	Set a number of samples to average for each update of the downstream signal.

int16_t	writeExcludeBelowAbove (uint16_t low, uint16_t high)
	Sets input value ranges which are discarded rather than processed.

int16_t	configureQueue (SerialWombatQueue *queue, Period period, bool queueHighByte=true, bool queueLowByte=true)
	Sets up the queueing feature for this pin mode. Queue must have been initialized prior to this queue.

int16_t	configureOutputValue (OutputValue outputValue)
	Configures whether the pin's public data value is averaged, filtered, or neither.

int16_t	writeTransformScaleRange (uint16_t min, uint16_t max)
	Scale incoming values to a range of 0 to 65535.

int16_t	writeTransformLinearMXB (int32_t m, int32_t b)
	Scale incoming values based on an mx+b linear equation.

int16_t	configureIntegrator (uint16_t negativeMaxIndex, uint16_t negativeMidIndex, uint16_t negativeDeadZone, uint16_t positiveDeadZone, uint16_t positiveMidIndex, uint16_t positiveMaxIndex, uint16_t midIncrement, uint16_t maxIncrement, uint16_t initialValue, uint8_t updateFrequencyMask=0)
	Sort incoming data into one of 5 ranges, and integrate based on linear interpolation in those ranges.

int16_t	writeProcessedInputEnable (bool enabled)
	Enables or disables all input processing functions If disabled, the raw input value is placed directly in the pin's 16 bit public data buffer.

uint16_t	readMinimum (bool resetAfterRead=false)
	Retreive the maximum public data output value since the last call with reset= true.

uint16_t	readMaximum (bool resetAfterRead=false)
	Retreive the minimum public data output value since the last call with reset= true.

uint16_t	readAverage ()
	Retreive the last completed averaged value.

uint16_t	readFiltered ()
	Retreive the filtered value.

Public Attributes
uint16_t	zeroCurrentCalibration = 32768
	Variable holding the zero calibration value in counts.

Additional Inherited Members
Public Types inherited from SerialWombatAbstractProcessedInput
enum	Period { PERIOD_1mS = 0 , PERIOD_2mS = 1 , PERIOD_4mS = 2 , PERIOD_8mS = 3 , PERIOD_16mS = 4 , PERIOD_32mS = 5 , PERIOD_64mS = 6 , PERIOD_128mS = 7 , PERIOD_256mS = 8 , PERIOD_512mS = 9 , PERIOD_1024mS = 10 }

enum	OutputValue { RAW = 0 , FIRST_ORDER_FILTERED = 1 , AVERAGE = 2 }

enum	Transform { NONE = 0 , SCALE_RANGE = 1 , LINEAR_MXB = 2 }

Protected Attributes inherited from SerialWombatPin
uint8_t	_pin = 255

SerialWombatChip &	_sw

uint8_t	_pinMode = 0

Detailed Description

A class representing an Allegro ACS712 5A current sensor connected to a SW8B Analog input on a PCB0031 Grip board.

The GripACS712 class is a child class of SerialWombatAnalogInput_18AB. It has all of the same methods and adds methods for converting the output to mA, and setting a reference zero current. This can be either real zero current, or an offset such as in the case of a Servo which pulls a small current to drive its electronics even when the motor is not generating torque.

A Tutorial video is also avaialble:

https://youtu.be/TODO

Definition at line 51 of file PCB0031_Grip.h.

Constructor & Destructor Documentation

◆ GripACS712()

GripACS712::GripACS712 ( SerialWombatChip & serialWombatChip )

inline

Constructor for the GripACS712 Class.

Parameters

sw	A reference to a previously declared SerialWombatChip to which the Servo is connected.

Definition at line 59 of file PCB0031_Grip.h.

Member Function Documentation

◆ begin()

int16_t GripACS712::begin ( uint8_t pin )

inline

Initialize a GripACS712 on the specified pin.

This function must be called after the SerialWombatChip instance specified in the constructor has been initialized with a begin call.

This function initializes the underlying analog input with default parameters.

Parameters

pin	The Serial Wombat pin to set. Valid values are 4-7 as those pins are ACS712 pins on the grip board

Returns: Returns a negative number indicating an error code, or a non negative number indicating success

Definition at line 72 of file PCB0031_Grip.h.

◆ calibrateIdleCurrent()

uint16_t GripACS712::calibrateIdleCurrent ( )

inline

called to set the zero calibration current

Returns: returns the value in counts of the calibration

Definition at line 91 of file PCB0031_Grip.h.

◆ readCurrent_mA()

int16_t GripACS712::readCurrent_mA ( )

inline

returns the current reading in Milliamps. May be negative

Returns: returns the current value in mA

Definition at line 103 of file PCB0031_Grip.h.

Member Data Documentation

◆ zeroCurrentCalibration

uint16_t GripACS712::zeroCurrentCalibration = 32768

Variable holding the zero calibration value in counts.

Definition at line 84 of file PCB0031_Grip.h.

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GripACS712()

Member Function Documentation

◆ begin()

◆ calibrateIdleCurrent()

◆ readCurrent_mA()

Member Data Documentation

◆ zeroCurrentCalibration