PCB0031_Grip Class Reference

A class representing a PCB0031 Grip PCB. More...

#include <PCB0031_Grip.h>

Inheritance diagram for PCB0031_Grip:

Collaboration diagram for PCB0031_Grip:

Public Member Functions
	PCB0031_Grip ()
int16_t	begin (uint8_t i2cAddress, bool pin3IsVoltage=false)
	Initialize a PCB0031_Grip pcb on a given I2C address.
uint16_t	readPowerVoltage_mv ()
	Returns the voltage provided to the Servos in mV.
Public Member Functions inherited from SerialWombatChip
void	configureDigitalPin (uint8_t pin, uint8_t highLow)
int16_t	initialize ()
void	readUniqueIdentifier ()
void	readDeviceIdentifier ()
uint16_t	returnErrorCode (uint8_t *rx)
	SerialWombatChip ()
int16_t	begin (HardwareSerial &serial, bool reset=true)
	initialize a Serial Wombat chip to use a Serial Interface.
int16_t	begin (uint8_t i2cAddress)
	initialize a Serial Wombat chip to use the default Wire I2C Interface and specified address.
int16_t	begin (TwoWire &wire, uint8_t i2cAddress, bool reset=true)
	initialize a Serial Wombat chip to use a specified I2C Interface and address.
	~SerialWombatChip ()
int	sendPacket (uint8_t tx[], uint8_t rx[])
	Send an 8 byte packet to the Serial Wombat chip and wait for 8 bytes back.
int	sendPacket (uint8_t tx[])
	Send an 8 byte packet to the Serial Wombat chip.
int	sendPacket (uint8_t tx[], uint8_t rx[], bool retryIfEchoDoesntMatch, uint8_t beginningBytesToMatch=8, uint8_t endBytesToMatch=0)
	Send an 8 byte packet to the Serial Wombat chip and wait for 8 bytes back.
int	sendPacket (uint8_t tx[], bool retryIfEchoDoesntMatch)
	Send an 8 byte packet to the Serial Wombat chip.
int	sendPacketNoResponse (uint8_t tx[])
	Send an 8 byte packet to the Serial Wombat chip, don't wait for a response.
char *	readVersion (void)
	Request version string (combined model and firmware) and return pointer to it.
uint32_t	readVersion_uint32 (void)
	Request version as a uint32.
bool	isLatestFirmware (void)
uint16_t	readPublicData (uint8_t pin)
	Read the 16 Bit public data associated with a Serial Wombat Pin Mode.
uint16_t	readPublicData (SerialWombatDataSource dataSource)
	Read the 16 Bit public data associated with a Serial Wombat Pin Mode.
uint16_t	writePublicData (uint8_t pin, uint16_t value)
	Write a 16 bit value to a Serial Wombat pin Mode.
uint32_t	comparePublicDataToThreshold (uint16_t threshold=0)
uint16_t	readSupplyVoltage_mV (void)
	Measure the Serial Wombat chip's Supply voltage.
int16_t	readTemperature_100thsDegC (void)
	Measure the Serial Wombat chip's internal temperature.
void	hardwareReset ()
	Send a reset command to the Serial Wombat chip.
void	pinMode (uint8_t pin, uint8_t mode, bool pullDown=false, bool openDrain=false)
	Set a pin to INPUT or OUTPUT, with options for pull Ups and open Drain settings.
void	digitalWrite (uint8_t pin, uint8_t val)
	Set an output pin High or Low.
int	digitalRead (uint8_t pin)
	Reads the state of a Pin.
int	analogRead (uint8_t pin)
	Configures pin as analog input and does an immediate A/D conversion.
void	analogWrite (uint8_t pin, int val)
	Set a pin to PWM output.
bool	queryVersion ()
	Send a version request to the Serial Wombat chip.
uint32_t	readFramesExecuted ()
	Get the number of 1mS frames that have been executed since Serial Wombat chip reset.
uint16_t	readOverflowFrames ()
	Get the number of times an overflow Frame has occured.
void	jumpToBoot ()
	Jump to Bootloader and wait for a UART download of new firmware.
uint8_t	readRamAddress (uint16_t address)
	Read Address from RAM based on 16 bit address.
int16_t	writeRamAddress (uint16_t address, uint8_t value)
	Write byte to Address in RAM based on 16 bit address.
uint32_t	readFlashAddress (uint32_t address)
	Read Address from Flash based on 32 bit address.
int16_t	readUserBuffer (uint16_t index, uint8_t *buffer, uint16_t count)
	Read data from the Serial Wombat 18AB's internal RAM buffer.
void	sleep ()
	Shuts down most functions of the Serial Wombat chip reducing power consumption.
void	wake ()
	Called to send a dummy packet to the Serial Wombat chip to wake it from sleep and ready it for other commands.
bool	isSW18 ()
	Returns true if the instance received a model number corresponding to the Serial Wombat 18 series of chips at begin.
bool	isSW08 ()
	Returns true if the instance received a model number corresponding to the Serial Wombat 08 series of chips at begin.
int16_t	eraseFlashPage (uint32_t address)
	Erases a page in flash. Intended for use with the Bootloader, not by end users outside of bootloading sketch.
int16_t	writeFlashRow (uint32_t address)
	Writes a row in flash. Intended for use with the Bootloader, not by end users outside of bootloading sketc.
int16_t	setThroughputPin (uint8_t pin)
	Set a pin to be a throughput monitoring pin.
int16_t	setThroughputPin (uint32_t address)
	Set this chip Address (SW8B only)
int	writeUserBuffer (uint16_t index, uint8_t *buffer, uint16_t count)
	Write bytes to the User Memory Buffer in the Serial Wombat chip.
int	writeUserBuffer (uint16_t index, char *s)
	Write bytes to the User Memory Buffer in the Serial Wombat chip.
int	writeUserBuffer (uint16_t index, const char s[])
	Write bytes to the User Memory Buffer in the Serial Wombat chip.
int16_t	writeFrameTimerPin (uint8_t pin)
	Set a pin to be a frame timer for system utilization (SW18AB Only)
int16_t	readLastErrorCommand (uint8_t *cmd)
	Returns the last Serial Wombat command that produced a protocol error.
void	registerErrorHandler (SerialWombatErrorHandler_t handler)
	Registers an error handler that is called by the SerialWombatChip sendPacket() command when a protocol error is returned by the Serial Wombat \handler A function pointer to a function of SerialWombatErrorHandler_t type.
int16_t	echo (uint8_t data[], uint8_t count=7)
int16_t	echo (char *data)
uint32_t	readBirthday ()
int16_t	readBrand (char *data)

Public Attributes
GripServo	gs0
GripServo	gs1
GripServo	gs2
GripServo	gs3
SerialWombatAnalogInput_18AB	powerVoltage
GripServo *	gsArray [4] = { &gs0,&gs1,&gs2,&gs3 }
Public Attributes inherited from SerialWombatChip
uint16_t	_supplyVoltagemV = 0
uint8_t	model [4] = { 0 }
	Contains the last model retreived by queryVersion() as a zero-terminated string.
uint8_t	fwVersion [4] = { 0 }
	Contains the last firmware Version retreived by queryVersion() as a zero-terminated string.
uint8_t	uniqueIdentifier [16]
uint8_t	uniqueIdentifierLength = 0
uint16_t	deviceIdentifier
uint16_t	deviceRevision
uint16_t	errorCount = 0
	Incremented every time a communication or command error is detected.
bool	inBoot = false
	Set to true if boot mode is indicated by a version query.
int16_t	lastErrorCode = 0
	The last error code returned as part of a protocol error message expressed as a positive integer.
uint32_t	sendReadyTime = 0
uint8_t	address = 0
	The I2C address of the SerialWombatChip instance.
uint8_t	communicationErrorRetries = 5
	How many times to retry a packet if communcation bus (such as I2C) error.

Additional Inherited Members
Static Public Member Functions inherited from SerialWombatChip
static uint8_t	find (bool keepTrying=false)
	Search the I2C Bus addresses 0x68 to 0x6F for I2C devices, and test to see if they respond to Serial Wombat version commands. Returns first address that responds properly or 0 if none found.

Detailed Description

A class representing a PCB0031 Grip PCB.

The PCB0031_Grip class is a child class of SerialWombatChip. It adds additional functionality to the begin class to initialize GripServo classes associated with the 4 (or 3) servo/current sensor combinations.
In the case where the solder jumper for servo power voltage measurement is closed, 3 servo combinations are initialized, and an analog input for the voltage is initialized.

The class creates 4 GripServo s named gs0 thorugh gs3 .

Warning

This board requires 5V logic for proper operation of the Current Sensor ICs Servo control will work at 3.3V, but feedback may not.

A Tutorial video is also avaialble:

https://youtu.be/TODO

Definition at line 384 of file PCB0031_Grip.h.

Constructor & Destructor Documentation

PCB0031_Grip()

PCB0031_Grip::PCB0031_Grip ( )

inline

Definition at line 387 of file PCB0031_Grip.h.

Member Function Documentation

begin()

int16_t PCB0031_Grip::begin ( uint8_t i2cAddress, bool pin3IsVoltage = false )

inline

Initialize a PCB0031_Grip pcb on a given I2C address.

Wire must be initialized before calling this function

Parameters

i2cAddress	The I2C address of the PCB
pin3IsVoltage	Set this to true if the voltage measurement solder jumper has been soldered closed

Returns

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

Definition at line 405 of file PCB0031_Grip.h.

readPowerVoltage_mv()

uint16_t PCB0031_Grip::readPowerVoltage_mv ( )

inline

Returns the voltage provided to the Servos in mV.

begin must be called with pin3VoltageEnable = true before using this method

this funciton calculates the value based on the 8200/2000 ohm voltage divider on the board

Returns

Returns the servo voltage in millivolts

Definition at line 436 of file PCB0031_Grip.h.

Member Data Documentation

gs0

GripServo PCB0031_Grip::gs0

Definition at line 390 of file PCB0031_Grip.h.

gs1

GripServo PCB0031_Grip::gs1

Definition at line 390 of file PCB0031_Grip.h.

gs2

GripServo PCB0031_Grip::gs2

Definition at line 390 of file PCB0031_Grip.h.

gs3

GripServo PCB0031_Grip::gs3

Definition at line 390 of file PCB0031_Grip.h.

gsArray

GripServo* PCB0031_Grip::gsArray[4] = { &gs0,&gs1,&gs2,&gs3 }

Definition at line 393 of file PCB0031_Grip.h.

powerVoltage

SerialWombatAnalogInput_18AB PCB0031_Grip::powerVoltage

Definition at line 391 of file PCB0031_Grip.h.