Created TB6612FNGMotorDriver.java as an interface between the IOIO and

the TB6612FNG motor driver.

Added Values to IOIOTruckValues.java for the TB6612FNG

IOIOTruckmanager.java updated drive schema to tank drive, and to use the
TB6612FNGMotorDriver class

IOIOTruck/project.properties

@@ -9,7 +9,7 @@
 
 # Project target.
 target=Google Inc.:Google APIs:15
-android.library.reference.3=../LocationLib
+android.library.reference.3=../../../workspace/LocationLib
-android.library.reference.4=../../git/ioiolib
+android.library.reference.4=../../ioiolib/IOIOLib
-android.library.reference.1=../ExceptionHandlerLib
+android.library.reference.1=../../../workspace/ExceptionHandlerLib
-android.library.reference.2=../Joystick
+android.library.reference.2=../../../workspace/Joystick

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckManager.java

@@ -6,13 +6,12 @@
  */
 package com.TwentyCodes.android.IOIOTruck;
 
+import ioio.lib.api.DigitalOutput;
 import ioio.lib.api.IOIO;
 import ioio.lib.api.PwmOutput;
 import ioio.lib.api.exception.ConnectionLostException;
 import android.app.Activity;
-import android.util.Log;
 
-import com.TwentyCodes.android.IOIOTruck.R;
 import com.TwentyCodes.android.ioio.IOIOManager;
 
 /**
@@ -32,14 +31,14 @@ public class IOIOTruckManager extends IOIOManager {
 	private static final String TAG = "IOIOTruckThread";
 	private Activity mActivity;
 	private IOIOTruckThreadListener mListener;
-	private PwmOutput mDrive;
+	private int mLeftDriveValue;
-	private PwmOutput mSteer;
+	private int mRightDriveValue;
-	private PwmOutput mShifter;
-	private int mDriveValue;
-	private int mSteerValue;
 	private int mShifterValue;
 	private boolean mStatLedValue;
-	private boolean isTank = false;
+	private TB6612FNGMotorDriver mLeftMotor;
+	private TB6612FNGMotorDriver mRightMotor;
+	private PwmOutput mShifter;
+	private DigitalOutput mMotorDriverStandBy;
 	
 	/**
 	 * Creates a new IOIOTruckThread
@@ -54,21 +53,25 @@ public class IOIOTruckManager extends IOIOManager {
 		updateLog(R.string.wait_ioio);
 	}
 	
-	private void arcadeDrive() {	
+	/**
+	 * Drives the robot based on the drive and steering values
+	 * @throws ConnectionLostException
+	 * @author ricky barrette
+	 */
+	private void arcadeDrive() throws ConnectionLostException {	
 		int left, right;	
-		left = (mDriveValue + mSteerValue) /2;
+		left = (mLeftDriveValue + mRightDriveValue) /2;
-		right = (mDriveValue - mSteerValue) / 2;
+		right = (mLeftDriveValue - mRightDriveValue) / 2;
 		
-		mDriveValue = left;
+		mLeftMotor.setSpeed(left);
-		mSteerValue = right + 1500;
+		mRightMotor.setSpeed(right + 1500);
-	    Log.d(TAG, "left: "+ mDriveValue + " right: "+ mSteerValue);
 	}
 
 	/**
 	 * @return the mDriveValue
 	 */
 	public synchronized int getDriveValue() {
-		return mDriveValue;
+		return mLeftDriveValue;
 	}
 
 	/**
@@ -82,7 +85,7 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @return the mSteerValue
 	 */
 	public synchronized int getSteerValue() {
-		return mSteerValue;
+		return mRightDriveValue;
 	}
 	
 	/**
@@ -102,9 +105,12 @@ public class IOIOTruckManager extends IOIOManager {
 	public void onConnected(IOIO ioio) throws ConnectionLostException {
 		updateLog(R.string.ioio_connected);
 		
-		mDrive = ioio.openPwmOutput(IOIOTruckValues.DRIVE_PORT, IOIOTruckValues.RC_PWM_FRQ);
-		mSteer = ioio.openPwmOutput(IOIOTruckValues.STEER_PORT, IOIOTruckValues.RC_PWM_FRQ);
 		mShifter = ioio.openPwmOutput(IOIOTruckValues.SHIFTER_PORT, IOIOTruckValues.RC_PWM_FRQ);
+		mLeftMotor = new TB6612FNGMotorDriver(ioio, IOIOTruckValues.MOTOR_DRIVER_PWMA, IOIOTruckValues.MOTOR_DRIVER_A1, IOIOTruckValues.MOTOR_DRIVER_A2);
+		mRightMotor = new TB6612FNGMotorDriver(ioio, IOIOTruckValues.MOTOR_DRIVER_PWMB, IOIOTruckValues.MOTOR_DRIVER_B1, IOIOTruckValues.MOTOR_DRIVER_B2);
+		
+		//enable the motor driver
+		mMotorDriverStandBy = ioio.openDigitalOutput(IOIOTruckValues.MOTOR_DRIVER_STANDBY, true);
 	}
 
 	/**
@@ -126,33 +132,30 @@ public class IOIOTruckManager extends IOIOManager {
 		
 		this.setStatLedEnabled(mStatLedValue);
 		
-		if(isTank){
-			arcadeDrive();
-			mSteer.setPulseWidth(mSteerValue);
-			mDrive.setPulseWidth(mDriveValue);
-		}
-		else {
-			/*
-			 * if the autonomous routine is running
-			 * then drive the truck
-			 * else stop the truck
-			 */
-			if(mStatLedValue)
-				mDrive.setPulseWidth(mDriveValue);
-			else
-				mDrive.setPulseWidth(IOIOTruckValues.DRIVE_STOP);
-		
-		}
-		mSteer.setPulseWidth(mSteerValue);
 		mShifter.setPulseWidth(mShifterValue);
 		
+		mMotorDriverStandBy.write(mStatLedValue);
+
+		/*
+		 * if the autonomous routine is running
+		 * then drive the truck
+		 * else stop the truck
+		 */
+		if(mStatLedValue){
+			arcadeDrive();
+		}
+		else{				
+			mLeftMotor.setSpeed(0);
+			mRightMotor.setSpeed(0);
+		}
+		
 	}
 
 	/**
 	 * @param mDriveValue the mDriveValue to set
 	 */
 	public synchronized void setDriveValue(int mDriveValue) {
-		this.mDriveValue = mDriveValue;
+		this.mLeftDriveValue = mDriveValue;
 	}
 
 	/**
@@ -173,15 +176,7 @@ public class IOIOTruckManager extends IOIOManager {
 	 * @param mSteerValue the mSteerValue to set
 	 */
 	public synchronized void setSteerValue(int mSteerValue) {
-		this.mSteerValue = mSteerValue;
+		this.mRightDriveValue = mSteerValue;
-	}
-
-	/**
-	 * @param isTankDrive
-	 * @author ricky barrette
-	 */
-	public synchronized void setTankDrive(boolean isTankDrive){
-		isTank = isTankDrive;
 	}
 
 	/**
@@ -197,7 +192,5 @@ public class IOIOTruckManager extends IOIOManager {
 					mListener.onLogUpdate(mActivity.getString(resId));
 				}
 			});
-		
 	}
-
 }

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/IOIOTruckValues.java

@@ -14,11 +14,46 @@ import com.TwentyCodes.android.ioio.IOIOValues;
  */
 public class IOIOTruckValues extends IOIOValues {
 	
+	/**
+	 * IOIO port for the motor driver pwma port
+	 */
+	public static final int MOTOR_DRIVER_PWMA = 4;
+	
+	/**
+	 * IOIO port for the motor driver a2 port
+	 */
+	public static final int MOTOR_DRIVER_A2 = 5;
+	
+	/**
+	 * IOIO port for the motor driver a1 port
+	 */
+	public static final int MOTOR_DRIVER_A1 = 6;
+	
+	/**
+	 * IOIO port for the motor driver stby port
+	 */
+	public static final int MOTOR_DRIVER_STANDBY = 7;
+	
+	/**
+	 * IOIO port for the motor driver b1 port
+	 */
+	public static final int MOTOR_DRIVER_B1 = 8;
+	
+	/**
+	 * IOIO port for the motor driver b2 port
+	 */
+	public static final int MOTOR_DRIVER_B2 = 9;
+	
+	/**
+	 * IOIO port for the motor driver pwmb port
+	 */
+	public final static int MOTOR_DRIVER_PWMB = 10;
+	
 	/**
 	 * stop the truck
 	 * PWM value
 	 */
-	public static final int DRIVE_STOP = 1500;
+	public static final int DRIVE_STOP = RC_PWM_PULSE_WIDTH_NEUTRAL;
 	
 	/**
 	 * drive the truck forward
@@ -33,56 +68,24 @@ public class IOIOTruckValues extends IOIOValues {
 	public static final int DRIVE_REVERSE = 1700;
 
 	/**
-	 * IOIO port to drive the speed controller
+	 * IOIO port for the "shifter"
 	 */
-	public static final int DRIVE_PORT = 3;
+	public static final int SHIFTER_PORT = 3;
 
 	/**
-	 * IOIO port to drive the shifter servo
+	 * Steering value to drive the robot straight
 	 */
-	public static final int SHIFTER_PORT = 4;
+	public static final int STEER_STRAIGHT = RC_PWM_PULSE_WIDTH_NEUTRAL;
 
 	/**
-	 * IOIO port to drive the steering servo
+	 * Steering value to drive the robot right
 	 */
-	public static final int STEER_PORT = 5;
+	public static final int STEER_RIGHT = 1700;
 
 	/**
-	 * steers the truck straight
+	 * Steering value to drive the robot left
-	 * PWM value
 	 */
-	public static final int STEER_STRAIGHT = 1500; 
+	public static final int STEER_LEFT = 1300;
 
-	/**
-	 * steers the truck left
-	 * PWM value
-	 */
-	public static final int STEER_LEFT = 1400;
-	
-	/**
-	 * steers the truck right
-	 * PWM value
-	 */
-	public static final int STEER_RIGHT = 1600;
-	
-	/**
-	 * 
-	 * shifts truck into first
-	 * PWM value
-	 */
-	public static final int SHIFT_FIRST = 1500; 
-	
-	/**
-	 * shifts the truck into second
-	 * TODO verify value
-	 * PWM value
-	 */
-	public static final int SHIFT_SECOND = 1000;
-	
-	/**
-	 * shifts the truck into 3rd
-	 * PWM value
-	 */
-	public static final int SHIFT_THRID = 2000;
 
 }

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TB6612FNGMotorDriver.java

@@ -0,0 +1,86 @@
+/**
+ * IOIOMotorDriver.java
+ * @date Jan 25, 2012
+ * @author ricky barrette
+ * @author Twenty Codes, LLC
+ */
+package com.TwentyCodes.android.IOIOTruck;
+
+import android.util.Log;
+import ioio.lib.api.DigitalOutput;
+import ioio.lib.api.IOIO;
+import ioio.lib.api.PwmOutput;
+import ioio.lib.api.exception.ConnectionLostException;
+
+/**
+ * This class is used to drive one of the (2) motors via the TB6612FNG motor driver from sparkfun. 
+ * @author ricky barrette
+ */
+public class TB6612FNGMotorDriver {
+	
+	private static final String TAG = "TB6612FNGMotorDriver";
+	
+	private PwmOutput mPWM;
+	private DigitalOutput mIn1;
+	private DigitalOutput mIn2;
+
+	private final int PWM_FREQUENCY = 100000;
+
+	/**
+	 * Creates a new IOIOMotorDiver.
+	 * @param ioio that is connected
+	 * @param pwmPin IOIO port number for the motor driver pwm pin
+	 * @param in1Pin IOIO port number for the motor driver in1 pin
+	 * @param in2Pin IOIO port number for the motor driver in2 pin
+	 * @throws ConnectionLostException
+	 * @author ricky barrette
+	 */
+	public TB6612FNGMotorDriver(IOIO ioio, int pwmPin, int in1Pin, int in2Pin) throws ConnectionLostException {
+		mPWM = ioio.openPwmOutput(pwmPin, PWM_FREQUENCY);
+		mPWM.setDutyCycle(0);
+		mIn1 = ioio.openDigitalOutput(in1Pin, false);
+		mIn2 = ioio.openDigitalOutput(in2Pin, false);
+	}
+
+	/**
+	 * Sets the speed of this motor
+	 * @param speed +/- 0.0 - 1.0
+	 * @throws ConnectionLostException
+	 * @author ricky barrette
+	 */
+	public void setSpeed(float speed) throws ConnectionLostException {
+		if(Debug.DEBUG)
+			Log.v(TAG, "setSpeed(float): "+speed);
+		if(speed == 0) {
+			//stop
+			mIn1.write(false);
+			mIn2.write(false);
+		} else if (speed < 0) {
+			//reverse
+			mIn1.write(true);
+			mIn2.write(false);
+		} else if (speed > 0) {
+			//forward
+			mIn1.write(false);
+			mIn2.write(true);
+		}
+		mPWM.setDutyCycle(Math.abs(speed));
+	}
+	
+	/**
+	 * Sets the speed of this motor
+	 * @param speed 1000 - 2000
+	 * @throws ConnectionLostException
+	 * @author ricky barrette
+	 */
+	public void setSpeed(int speed) throws ConnectionLostException {
+		if(Debug.DEBUG)
+			Log.v(TAG, "setSpeed(int): "+speed);
+		if(speed == 1500)
+			setSpeed(0f);
+		else if(speed < 1500)
+			setSpeed((((float) speed - 1000) / 1000) - 1f);
+		else
+			setSpeed(((float) speed - 1000) / 1000);
+	}
+}

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/TestActivity.java

@@ -24,6 +24,7 @@ import com.TwentyCodes.android.exception.ExceptionHandler;
  * @author ricky barrette
  */
 public class TestActivity extends Activity implements JoystickMovedListener, OnSeekBarChangeListener, OnCheckedChangeListener, IOIOTruckThreadListener {
+	private static final String TAG = "TestActivity";
 	private TextView mStatusTextView;
 	private TextView mDriveTextView;
 	private TextView mSteerTextView;
@@ -86,7 +87,6 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 		try {
 			mIOIOManager.abort();
 		} catch (InterruptedException e) {
-			// TODO Auto-generated catch block
 			e.printStackTrace();
 		}
 	}
@@ -135,9 +135,10 @@ public class TestActivity extends Activity implements JoystickMovedListener, OnS
 	 */
 	@Override
 	public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
-		int shifter = progress + 1000;
+		float shifter = progress + 1000;
-		mIOIOManager.setShifterValue(shifter);
+		mIOIOManager.setShifterValue(progress + 1000);
-		mShifterTextView.setText(getString(R.string.shifter)+shifter);
+		
+		mShifterTextView.setText(getString(R.string.shifter)+ shifter);
 	}
 
 	@Override