mirror of
https://github.com/letscontrolit/ESPEasy.git
synced 2026-09-12 01:24:04 +00:00
[Lib Update] Update Adafruit Motor Shield V2 library to v1.1.1
This commit is contained in:
TD-er
@@ -0,0 +1,32 @@
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name: Arduino Library CI
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on: [pull_request, push, repository_dispatch]
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/setup-python@v4
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with:
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python-version: '3.x'
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- uses: actions/checkout@v3
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- uses: actions/checkout@v3
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with:
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repository: adafruit/ci-arduino
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path: ci
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- name: pre-install
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run: bash ci/actions_install.sh
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- name: test platforms
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run: python3 ci/build_platform.py main_platforms
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- name: clang
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run: python3 ci/run-clang-format.py -e "ci/*" -e "bin/*" -r .
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- name: doxygen
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env:
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GH_REPO_TOKEN: ${{ secrets.GH_REPO_TOKEN }}
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PRETTYNAME : "Adafruit Motor Shield V2 Arduino Library"
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run: bash ci/doxy_gen_and_deploy.sh
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@@ -1,63 +1,102 @@
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/******************************************************************
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||||
This is the library for the Adafruit Motor Shield V2 for Arduino.
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It supports DC motors & Stepper motors with microstepping as well
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as stacking-support. It is *not* compatible with the V1 library!
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/*!
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* @file Adafruit_MotorShield.cpp
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*
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* @mainpage Adafruit FXOS8700 accel/mag sensor driver
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*
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* @section intro_sec Introduction
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*
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* This is the library for the Adafruit Motor Shield V2 for Arduino.
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* It supports DC motors & Stepper motors with microstepping as well
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* as stacking-support. It is *not* compatible with the V1 library!
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* For use with the Motor Shield https://www.adafruit.com/products/1483
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* and Motor FeatherWing https://www.adafruit.com/product/2927
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*
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* This shield/wing uses I2C to communicate, 2 pins (SCL+SDA) are required
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* to interface.
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*
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||||
* Adafruit invests time and resources providing this open source code,
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||||
* please support Adafruit and open-source hardware by purchasing
|
||||
* products from Adafruit!
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*
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* @section author Author
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*
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* Written by Limor Fried/Ladyada for Adafruit Industries.
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*
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* @section license License
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*
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* BSD license, all text here must be included in any redistribution.
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*
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||||
*/
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||||
It will only work with https://www.adafruit.com/products/1483
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|
||||
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.
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BSD license, check license.txt for more information.
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||||
All text above must be included in any redistribution.
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******************************************************************/
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#if (ARDUINO >= 100)
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <Wire.h>
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#include "Adafruit_MotorShield.h"
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#include "Arduino.h"
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#include <Adafruit_MS_PWMServoDriver.h>
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#if defined(ARDUINO_SAM_DUE)
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#define WIRE Wire1
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#else
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#define WIRE Wire
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#endif
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#if (MICROSTEPS == 8)
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uint8_t microstepcurve[] = {0, 50, 98, 142, 180, 212, 236, 250, 255};
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///! A sinusoial microstepping curve for the PWM output (8-bit range) with 9
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/// points - last one is start of next step.
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static uint8_t microstepcurve[] = {0, 50, 98, 142, 180, 212, 236, 250, 255};
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#elif (MICROSTEPS == 16)
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uint8_t microstepcurve[] = {0, 25, 50, 74, 98, 120, 141, 162, 180, 197, 212, 225, 236, 244, 250, 253, 255};
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///! A sinusoial microstepping curve for the PWM output (8-bit range) with 17
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/// points - last one is start of next step.
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static uint8_t microstepcurve[] = {0, 25, 50, 74, 98, 120, 141, 162, 180,
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197, 212, 225, 236, 244, 250, 253, 255};
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#endif
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Adafruit_MotorShield::Adafruit_MotorShield(uint8_t addr) {
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_addr = addr;
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_pwm = Adafruit_MS_PWMServoDriver(_addr);
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||||
}
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/**************************************************************************/
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||||
/*!
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@brief Create the Motor Shield object at an I2C address, default is 0x60
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@param addr Optional I2C address if you've changed it
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||||
*/
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||||
/**************************************************************************/
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||||
Adafruit_MotorShield::Adafruit_MotorShield(uint8_t addr) { _addr = addr; }
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||||
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||||
void Adafruit_MotorShield::begin(uint16_t freq) {
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||||
/**************************************************************************/
|
||||
/*!
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@brief Initialize the I2C hardware and PWM driver, then turn off all pins.
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@param freq
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The PWM frequency for the driver, used for speed control and microstepping.
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By default we use 1600 Hz which is a little audible but efficient.
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@param theWire
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A pointer to an optional I2C interface. If not provided, we use Wire or
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Wire1 (on Due)
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||||
@returns true if successful, false otherwise
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||||
*/
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/**************************************************************************/
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bool Adafruit_MotorShield::begin(uint16_t freq, TwoWire *theWire) {
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// init PWM w/_freq
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//Wire.begin(); called in ESPEasy framework
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_pwm.begin();
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_pwm = Adafruit_MS_PWMServoDriver(_addr);
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if (!_pwm.begin(theWire))
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return false;
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_freq = freq;
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_pwm.setPWMFreq(_freq); // This is the maximum PWM frequency
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for (uint8_t i=0; i<16; i++)
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_pwm.setPWMFreq(_freq); // This is the maximum PWM frequency
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for (uint8_t i = 0; i < 16; i++)
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_pwm.setPWM(i, 0, 0);
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return true;
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}
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/**************************************************************************/
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/*!
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@brief Helper that sets the PWM output on a pin and manages 'all on or off'
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@param pin The PWM output on the driver that we want to control (0-15)
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@param value The 12-bit PWM value we want to set (0-4095) - 4096 is a
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special 'all on' value
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||||
*/
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/**************************************************************************/
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void Adafruit_MotorShield::setPWM(uint8_t pin, uint16_t value) {
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if (value > 4095) {
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_pwm.setPWM(pin, 4096, 0);
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} else
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_pwm.setPWM(pin, 0, value);
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}
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||||
/**************************************************************************/
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||||
/*!
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||||
@brief Helper that sets the PWM output on a pin as if it were a GPIO
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@param pin The PWM output on the driver that we want to control (0-15)
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||||
@param value HIGH or LOW depending on the value you want!
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||||
*/
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/**************************************************************************/
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void Adafruit_MotorShield::setPin(uint8_t pin, boolean value) {
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if (value == LOW)
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_pwm.setPWM(pin, 0, 0);
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@@ -65,8 +104,17 @@ void Adafruit_MotorShield::setPin(uint8_t pin, boolean value) {
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_pwm.setPWM(pin, 4096, 0);
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}
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||||
/**************************************************************************/
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||||
/*!
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||||
@brief Mini factory that will return a pointer to an already-allocated
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||||
Adafruit_DCMotor object. Initializes the DC motor and turns off all pins
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@param num The DC motor port we want to use: 1 thru 4 are valid
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@returns NULL if something went wrong, or a pointer to a Adafruit_DCMotor
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*/
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/**************************************************************************/
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Adafruit_DCMotor *Adafruit_MotorShield::getMotor(uint8_t num) {
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if (num > 4) return NULL;
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if (num > 4)
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return NULL;
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num--;
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@@ -74,15 +122,28 @@ Adafruit_DCMotor *Adafruit_MotorShield::getMotor(uint8_t num) {
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// not init'd yet!
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dcmotors[num].motornum = num;
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dcmotors[num].MC = this;
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uint8_t pwm=0, in1=0, in2=0;
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if (num == 0) {
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pwm = 8; in2 = 9; in1 = 10;
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} else if (num == 1) {
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pwm = 13; in2 = 12; in1 = 11;
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} else if (num == 2) {
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pwm = 2; in2 = 3; in1 = 4;
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} else if (num == 3) {
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pwm = 7; in2 = 6; in1 = 5;
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uint8_t pwm, in1, in2;
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switch (num) {
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case 0:
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pwm = 8;
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in2 = 9;
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in1 = 10;
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break;
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case 1:
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pwm = 13;
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in2 = 12;
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in1 = 11;
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break;
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case 2:
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pwm = 2;
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in2 = 3;
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in1 = 4;
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break;
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default:
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pwm = 7;
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in2 = 6;
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in1 = 5;
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break;
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}
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dcmotors[num].PWMpin = pwm;
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dcmotors[num].IN1pin = in1;
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@@ -91,9 +152,21 @@ Adafruit_DCMotor *Adafruit_MotorShield::getMotor(uint8_t num) {
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return &dcmotors[num];
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}
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Adafruit_StepperMotor *Adafruit_MotorShield::getStepper(uint16_t steps, uint8_t num) {
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if (num > 2) return NULL;
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||||
/**************************************************************************/
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/*!
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||||
@brief Mini factory that will return a pointer to an already-allocated
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Adafruit_StepperMotor object with a given 'steps per rotation.
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Then initializes the stepper motor and turns off all pins.
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||||
@param steps How many steps per revolution (used for RPM calculation)
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||||
@param num The stepper motor port we want to use: only 1 or 2 are valid
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||||
@returns NULL if something went wrong, or a pointer to a
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||||
Adafruit_StepperMotor
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*/
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/**************************************************************************/
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Adafruit_StepperMotor *Adafruit_MotorShield::getStepper(uint16_t steps,
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uint8_t num) {
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if (num > 2)
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return NULL;
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num--;
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@@ -102,13 +175,21 @@ Adafruit_StepperMotor *Adafruit_MotorShield::getStepper(uint16_t steps, uint8_t
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steppers[num].steppernum = num;
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steppers[num].revsteps = steps;
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steppers[num].MC = this;
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uint8_t pwma=0, pwmb=0, ain1=0, ain2=0, bin1=0, bin2=0;
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uint8_t pwma, pwmb, ain1, ain2, bin1, bin2;
|
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if (num == 0) {
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pwma = 8; ain2 = 9; ain1 = 10;
|
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pwmb = 13; bin2 = 12; bin1 = 11;
|
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} else if (num == 1) {
|
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pwma = 2; ain2 = 3; ain1 = 4;
|
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pwmb = 7; bin2 = 6; bin1 = 5;
|
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pwma = 8;
|
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ain2 = 9;
|
||||
ain1 = 10;
|
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pwmb = 13;
|
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bin2 = 12;
|
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bin1 = 11;
|
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} else {
|
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pwma = 2;
|
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ain2 = 3;
|
||||
ain1 = 4;
|
||||
pwmb = 7;
|
||||
bin2 = 6;
|
||||
bin1 = 5;
|
||||
}
|
||||
steppers[num].PWMApin = pwma;
|
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steppers[num].PWMBpin = pwmb;
|
||||
@@ -120,25 +201,37 @@ Adafruit_StepperMotor *Adafruit_MotorShield::getStepper(uint16_t steps, uint8_t
|
||||
return &steppers[num];
|
||||
}
|
||||
|
||||
|
||||
/******************************************
|
||||
MOTORS
|
||||
******************************************/
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Create a DCMotor object, un-initialized!
|
||||
You should never call this, instead have the {@link Adafruit_MotorShield}
|
||||
give you a DCMotor object with {@link Adafruit_MotorShield.getMotor}
|
||||
*/
|
||||
/**************************************************************************/
|
||||
Adafruit_DCMotor::Adafruit_DCMotor(void) {
|
||||
MC = NULL;
|
||||
motornum = 0;
|
||||
PWMpin = IN1pin = IN2pin = 0;
|
||||
}
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Control the DC Motor direction and action
|
||||
@param cmd The action to perform, can be FORWARD, BACKWARD or RELEASE
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_DCMotor::run(uint8_t cmd) {
|
||||
switch (cmd) {
|
||||
case FORWARD:
|
||||
MC->setPin(IN2pin, LOW); // take low first to avoid 'break'
|
||||
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(IN1pin, LOW); // take low first to avoid 'break'
|
||||
MC->setPin(IN2pin, HIGH);
|
||||
break;
|
||||
case RELEASE:
|
||||
@@ -148,64 +241,73 @@ void Adafruit_DCMotor::run(uint8_t cmd) {
|
||||
}
|
||||
}
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Control the DC Motor speed/throttle
|
||||
@param speed The 8-bit PWM value, 0 is off, 255 is on
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_DCMotor::setSpeed(uint8_t speed) {
|
||||
MC->setPWM(PWMpin, speed*16);
|
||||
MC->setPWM(PWMpin, speed * 16);
|
||||
}
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Control the DC Motor speed/throttle with 12 bit resolution.
|
||||
@param speed The 12-bit PWM value, 0 (full off) to 4095 (full on)
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_DCMotor::setSpeedFine(uint16_t speed) {
|
||||
MC->setPWM(PWMpin, speed > 4095 ? 4095 : speed);
|
||||
}
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Set DC motor to full on.
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_DCMotor::fullOn() { MC->_pwm.setPWM(PWMpin, 4096, 0); }
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Set DC motor to full off.
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_DCMotor::fullOff() { MC->_pwm.setPWM(PWMpin, 0, 4096); }
|
||||
|
||||
/******************************************
|
||||
STEPPERS
|
||||
******************************************/
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Create a StepperMotor object, un-initialized!
|
||||
You should never call this, instead have the {@link Adafruit_MotorShield}
|
||||
give you a StepperMotor object with {@link Adafruit_MotorShield.getStepper}
|
||||
*/
|
||||
/**************************************************************************/
|
||||
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);
|
||||
}
|
||||
}
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Set the delay for the Stepper Motor speed in RPM
|
||||
@param rpm The desired RPM, we will do our best to reach it!
|
||||
*/
|
||||
|
||||
/**************************************************************************/
|
||||
void Adafruit_StepperMotor::setSpeed(uint16_t rpm) {
|
||||
//Serial.println("steps per rev: "); Serial.println(revsteps);
|
||||
//Serial.println("RPM: "); Serial.println(rpm);
|
||||
// Serial.println("steps per rev: "); Serial.println(revsteps);
|
||||
// Serial.println("RPM: "); Serial.println(rpm);
|
||||
|
||||
usperstep = 60000000 / ((uint32_t)revsteps * (uint32_t)rpm);
|
||||
}
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Release all pins of the stepper motor so it free-spins
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_StepperMotor::release(void) {
|
||||
MC->setPin(AIN1pin, LOW);
|
||||
MC->setPin(AIN2pin, LOW);
|
||||
@@ -215,72 +317,91 @@ void Adafruit_StepperMotor::release(void) {
|
||||
MC->setPWM(PWMBpin, 0);
|
||||
}
|
||||
|
||||
void Adafruit_StepperMotor::step(uint16_t steps, uint8_t dir, uint8_t style) {
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Move the stepper motor with the given RPM speed, don't forget to
|
||||
call
|
||||
{@link Adafruit_StepperMotor.setSpeed} to set the speed!
|
||||
@param steps The number of steps we want to move
|
||||
@param dir The direction to go, can be FORWARD or BACKWARD
|
||||
@param style How to perform each step, can be SINGLE, DOUBLE, INTERLEAVE or
|
||||
MICROSTEP
|
||||
*/
|
||||
/**************************************************************************/
|
||||
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) {
|
||||
} else if (style == MICROSTEP) {
|
||||
uspers /= MICROSTEPS;
|
||||
steps *= MICROSTEPS;
|
||||
#ifdef MOTORDEBUG
|
||||
Serial.print("steps = "); Serial.println(steps, DEC);
|
||||
Serial.print("steps = ");
|
||||
Serial.println(steps, DEC);
|
||||
#endif
|
||||
}
|
||||
|
||||
while (steps--) {
|
||||
//Serial.println("step!"); Serial.println(uspers);
|
||||
// Serial.println("step!"); Serial.println(uspers);
|
||||
onestep(dir, style);
|
||||
delayMicroseconds(uspers);
|
||||
#ifdef ESP8266
|
||||
yield(); // required for ESP8266
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Move the stepper motor one step only, with no delays
|
||||
@param dir The direction to go, can be FORWARD or BACKWARD
|
||||
@param style How to perform each step, can be SINGLE, DOUBLE, INTERLEAVE or
|
||||
MICROSTEP
|
||||
@returns The current step/microstep index, useful for
|
||||
Adafruit_StepperMotor.step to keep track of the current location, especially
|
||||
when microstepping
|
||||
*/
|
||||
/**************************************************************************/
|
||||
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 ((currentstep / (MICROSTEPS / 2)) % 2) { // we're at an odd step, weird
|
||||
if (dir == FORWARD) {
|
||||
currentstep += MICROSTEPS/2;
|
||||
currentstep += MICROSTEPS / 2;
|
||||
} else {
|
||||
currentstep -= MICROSTEPS / 2;
|
||||
}
|
||||
else {
|
||||
currentstep -= MICROSTEPS/2;
|
||||
}
|
||||
} else { // go to the next even step
|
||||
} else { // go to the next even step
|
||||
if (dir == FORWARD) {
|
||||
currentstep += MICROSTEPS;
|
||||
}
|
||||
else {
|
||||
currentstep -= MICROSTEPS;
|
||||
currentstep += MICROSTEPS;
|
||||
} else {
|
||||
currentstep -= MICROSTEPS;
|
||||
}
|
||||
}
|
||||
} else if (style == DOUBLE) {
|
||||
if (! (currentstep/(MICROSTEPS/2) % 2)) { // we're at an even step, weird
|
||||
if (!(currentstep / (MICROSTEPS / 2) % 2)) { // we're at an even step, weird
|
||||
if (dir == FORWARD) {
|
||||
currentstep += MICROSTEPS/2;
|
||||
currentstep += MICROSTEPS / 2;
|
||||
} else {
|
||||
currentstep -= MICROSTEPS/2;
|
||||
currentstep -= MICROSTEPS / 2;
|
||||
}
|
||||
} else { // go to the next odd step
|
||||
} else { // go to the next odd step
|
||||
if (dir == FORWARD) {
|
||||
currentstep += MICROSTEPS;
|
||||
currentstep += MICROSTEPS;
|
||||
} else {
|
||||
currentstep -= MICROSTEPS;
|
||||
currentstep -= MICROSTEPS;
|
||||
}
|
||||
}
|
||||
} else if (style == INTERLEAVE) {
|
||||
if (dir == FORWARD) {
|
||||
currentstep += MICROSTEPS/2;
|
||||
currentstep += MICROSTEPS / 2;
|
||||
} else {
|
||||
currentstep -= MICROSTEPS/2;
|
||||
currentstep -= MICROSTEPS / 2;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -292,52 +413,56 @@ uint8_t Adafruit_StepperMotor::onestep(uint8_t dir, uint8_t style) {
|
||||
currentstep--;
|
||||
}
|
||||
|
||||
currentstep += MICROSTEPS*4;
|
||||
currentstep %= MICROSTEPS*4;
|
||||
currentstep += MICROSTEPS * 4;
|
||||
currentstep %= MICROSTEPS * 4;
|
||||
|
||||
ocra = ocrb = 0;
|
||||
if ( (currentstep >= 0) && (currentstep < MICROSTEPS)) {
|
||||
if (currentstep < MICROSTEPS) {
|
||||
ocra = microstepcurve[MICROSTEPS - currentstep];
|
||||
ocrb = microstepcurve[currentstep];
|
||||
} else if ( (currentstep >= MICROSTEPS) && (currentstep < MICROSTEPS*2)) {
|
||||
} 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];
|
||||
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;
|
||||
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);
|
||||
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);
|
||||
|
||||
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);
|
||||
// Serial.println(step, DEC);
|
||||
if (style == MICROSTEP) {
|
||||
if ((currentstep >= 0) && (currentstep < MICROSTEPS))
|
||||
if (currentstep < MICROSTEPS)
|
||||
latch_state |= 0x03;
|
||||
if ((currentstep >= MICROSTEPS) && (currentstep < MICROSTEPS*2))
|
||||
if ((currentstep >= MICROSTEPS) && (currentstep < MICROSTEPS * 2))
|
||||
latch_state |= 0x06;
|
||||
if ((currentstep >= MICROSTEPS*2) && (currentstep < MICROSTEPS*3))
|
||||
if ((currentstep >= MICROSTEPS * 2) && (currentstep < MICROSTEPS * 3))
|
||||
latch_state |= 0x0C;
|
||||
if ((currentstep >= MICROSTEPS*3) && (currentstep < MICROSTEPS*4))
|
||||
if ((currentstep >= MICROSTEPS * 3) && (currentstep < MICROSTEPS * 4))
|
||||
latch_state |= 0x09;
|
||||
} else {
|
||||
switch (currentstep/(MICROSTEPS/2)) {
|
||||
switch (currentstep / (MICROSTEPS / 2)) {
|
||||
case 0:
|
||||
latch_state |= 0x1; // energize coil 1 only
|
||||
break;
|
||||
@@ -365,30 +490,31 @@ uint8_t Adafruit_StepperMotor::onestep(uint8_t dir, uint8_t style) {
|
||||
}
|
||||
}
|
||||
#ifdef MOTORDEBUG
|
||||
Serial.print("Latch: 0x"); Serial.println(latch_state, HEX);
|
||||
Serial.print("Latch: 0x");
|
||||
Serial.println(latch_state, HEX);
|
||||
#endif
|
||||
|
||||
if (latch_state & 0x1) {
|
||||
// Serial.println(AIN2pin);
|
||||
// Serial.println(AIN2pin);
|
||||
MC->setPin(AIN2pin, HIGH);
|
||||
} else {
|
||||
MC->setPin(AIN2pin, LOW);
|
||||
}
|
||||
if (latch_state & 0x2) {
|
||||
MC->setPin(BIN1pin, HIGH);
|
||||
// Serial.println(BIN1pin);
|
||||
// Serial.println(BIN1pin);
|
||||
} else {
|
||||
MC->setPin(BIN1pin, LOW);
|
||||
}
|
||||
if (latch_state & 0x4) {
|
||||
MC->setPin(AIN1pin, HIGH);
|
||||
// Serial.println(AIN1pin);
|
||||
// Serial.println(AIN1pin);
|
||||
} else {
|
||||
MC->setPin(AIN1pin, LOW);
|
||||
}
|
||||
if (latch_state & 0x8) {
|
||||
MC->setPin(BIN2pin, HIGH);
|
||||
// Serial.println(BIN2pin);
|
||||
// Serial.println(BIN2pin);
|
||||
} else {
|
||||
MC->setPin(BIN2pin, LOW);
|
||||
}
|
||||
|
||||
@@ -1,14 +1,14 @@
|
||||
/******************************************************************
|
||||
This is the library for the Adafruit Motor Shield V2 for Arduino.
|
||||
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.
|
||||
@@ -17,13 +17,12 @@
|
||||
#ifndef _Adafruit_MotorShield_h_
|
||||
#define _Adafruit_MotorShield_h_
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <Wire.h>
|
||||
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||||
#include <inttypes.h>
|
||||
|
||||
//#define MOTORDEBUG
|
||||
|
||||
#define MICROSTEPS 16 // 8 or 16
|
||||
#define MICROSTEPS 16 // 8 or 16
|
||||
|
||||
#define MOTOR1_A 2
|
||||
#define MOTOR1_B 3
|
||||
@@ -46,32 +45,38 @@
|
||||
|
||||
class Adafruit_MotorShield;
|
||||
|
||||
class Adafruit_DCMotor
|
||||
{
|
||||
public:
|
||||
/** Object that controls and keeps state for a single DC motor */
|
||||
class Adafruit_DCMotor {
|
||||
public:
|
||||
Adafruit_DCMotor(void);
|
||||
friend class Adafruit_MotorShield;
|
||||
friend class Adafruit_MotorShield; ///< Let MotorShield create DCMotors
|
||||
void run(uint8_t);
|
||||
void setSpeed(uint8_t);
|
||||
|
||||
private:
|
||||
void setSpeedFine(uint16_t speed);
|
||||
void fullOn();
|
||||
void fullOff();
|
||||
|
||||
private:
|
||||
uint8_t PWMpin, IN1pin, IN2pin;
|
||||
Adafruit_MotorShield *MC;
|
||||
uint8_t motornum;
|
||||
};
|
||||
|
||||
/** Object that controls and keeps state for a single stepper motor */
|
||||
class Adafruit_StepperMotor {
|
||||
public:
|
||||
public:
|
||||
Adafruit_StepperMotor(void);
|
||||
friend class Adafruit_MotorShield;
|
||||
|
||||
void step(uint16_t steps, uint8_t dir, uint8_t style = SINGLE);
|
||||
void setSpeed(uint16_t);
|
||||
|
||||
void step(uint16_t steps, uint8_t dir, uint8_t style = SINGLE);
|
||||
uint8_t onestep(uint8_t dir, uint8_t style);
|
||||
void release(void);
|
||||
|
||||
friend class Adafruit_MotorShield; ///< Let MotorShield create StepperMotors
|
||||
|
||||
private:
|
||||
uint32_t usperstep;
|
||||
|
||||
private:
|
||||
uint8_t PWMApin, AIN1pin, AIN2pin;
|
||||
uint8_t PWMBpin, BIN1pin, BIN2pin;
|
||||
uint16_t revsteps; // # steps per revolution
|
||||
@@ -80,23 +85,27 @@ class Adafruit_StepperMotor {
|
||||
uint8_t steppernum;
|
||||
};
|
||||
|
||||
class Adafruit_MotorShield
|
||||
{
|
||||
public:
|
||||
Adafruit_MotorShield(uint8_t addr = 0x60);
|
||||
friend class Adafruit_DCMotor;
|
||||
void begin(uint16_t freq = 1600);
|
||||
/** Object that controls and keeps state for the whole motor shield.
|
||||
Use it to create DC and Stepper motor objects! */
|
||||
class Adafruit_MotorShield {
|
||||
public:
|
||||
Adafruit_MotorShield(uint8_t addr = 0x60);
|
||||
|
||||
void setPWM(uint8_t pin, uint16_t val);
|
||||
void setPin(uint8_t pin, boolean val);
|
||||
Adafruit_DCMotor *getMotor(uint8_t n);
|
||||
Adafruit_StepperMotor *getStepper(uint16_t steps, uint8_t n);
|
||||
private:
|
||||
uint8_t _addr;
|
||||
uint16_t _freq;
|
||||
Adafruit_DCMotor dcmotors[4];
|
||||
Adafruit_StepperMotor steppers[2];
|
||||
Adafruit_MS_PWMServoDriver _pwm;
|
||||
bool begin(uint16_t freq = 1600, TwoWire *theWire = &Wire);
|
||||
Adafruit_DCMotor *getMotor(uint8_t n);
|
||||
Adafruit_StepperMotor *getStepper(uint16_t steps, uint8_t n);
|
||||
|
||||
friend class Adafruit_DCMotor; ///< Let DCMotors control the Shield
|
||||
|
||||
void setPWM(uint8_t pin, uint16_t val);
|
||||
void setPin(uint8_t pin, boolean val);
|
||||
|
||||
private:
|
||||
uint8_t _addr;
|
||||
uint16_t _freq;
|
||||
Adafruit_DCMotor dcmotors[4];
|
||||
Adafruit_StepperMotor steppers[2];
|
||||
Adafruit_MS_PWMServoDriver _pwm;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,47 +1,14 @@
|
||||
# Adafruit Motor Shield v2 Library
|
||||
# Adafruit Motor Shield V2 Library [](https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library/actions)[](http://adafruit.github.io/Adafruit_Motor_Shield_V2_Library/html/index.html)
|
||||
|
||||
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!
|
||||
<img src="https://cdn-shop.adafruit.com/1200x900/1438-00.jpg" height="300"/>
|
||||
|
||||
It will only work with https://www.adafruit.com/products/1438
|
||||
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!
|
||||
|
||||
<!-- START COMPATIBILITY TABLE -->
|
||||
For use with the Motor Shield https://www.adafruit.com/products/1438
|
||||
and Motor FeatherWing https://www.adafruit.com/product/2927
|
||||
|
||||
## Compatibility
|
||||
|
||||
MCU | Tested Works | Doesn't Work | Not Tested | Notes
|
||||
------------------ | :----------: | :----------: | :---------: | -----
|
||||
Atmega328 @ 16MHz | X | | |
|
||||
Atmega328 @ 12MHz | X | | |
|
||||
Atmega32u4 @ 16MHz | X | | |
|
||||
Atmega32u4 @ 8MHz | X | | |
|
||||
ESP8266 | | | X |
|
||||
Atmega2560 @ 16MHz | X | | |
|
||||
ATSAM3X8E | | X | |
|
||||
ATSAM21D | | X | |
|
||||
ATtiny85 @ 16MHz | | | X |
|
||||
ATtiny85 @ 8MHz | | | X |
|
||||
Intel Curie @ 32MHz | | | X |
|
||||
STM32F2 | | | X |
|
||||
|
||||
* ATmega328 @ 16MHz : Arduino UNO, Adafruit Pro Trinket 5V, Adafruit Metro 328, Adafruit Metro Mini
|
||||
* ATmega328 @ 12MHz : Adafruit Pro Trinket 3V
|
||||
* ATmega32u4 @ 16MHz : Arduino Leonardo, Arduino Micro, Arduino Yun, Teensy 2.0
|
||||
* ATmega32u4 @ 8MHz : Adafruit Flora, Bluefruit Micro
|
||||
* ESP8266 : Adafruit Huzzah
|
||||
* ATmega2560 @ 16MHz : Arduino Mega
|
||||
* ATSAM3X8E : Arduino Due
|
||||
* ATSAM21D : Arduino Zero, M0 Pro
|
||||
* ATtiny85 @ 16MHz : Adafruit Trinket 5V
|
||||
* ATtiny85 @ 8MHz : Adafruit Gemma, Arduino Gemma, Adafruit Trinket 3V
|
||||
|
||||
<!-- END COMPATIBILITY TABLE -->
|
||||
|
||||
Adafruit invests time and resources providing this open
|
||||
source code, please support Adafruit and open-source hardware
|
||||
by purchasing products from Adafruit!
|
||||
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.
|
||||
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.
|
||||
|
||||
@@ -3,50 +3,52 @@
|
||||
//
|
||||
// Shows how to run AccelStepper in the simplest,
|
||||
// fixed speed mode with no accelerations
|
||||
// Requires the Adafruit_Motorshield v2 library
|
||||
// Requires the Adafruit_Motorshield v2 library
|
||||
// https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
|
||||
// And AccelStepper with AFMotor support
|
||||
// And AccelStepper with AFMotor support
|
||||
// https://github.com/adafruit/AccelStepper
|
||||
|
||||
// This tutorial is for Adafruit Motorshield v2 only!
|
||||
// Will not work with v1 shields
|
||||
|
||||
#include <AccelStepper.h>
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_MotorShield.h>
|
||||
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||||
|
||||
// Create the motor shield object with the default I2C address
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
// Or, create it with a different I2C address (say for stacking)
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
|
||||
// Connect a stepper motor with 200 steps per revolution (1.8 degree)
|
||||
// to motor port #2 (M3 and M4)
|
||||
Adafruit_StepperMotor *myStepper1 = AFMS.getStepper(200, 2);
|
||||
|
||||
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
|
||||
void forwardstep1() {
|
||||
void forwardstep1() {
|
||||
myStepper1->onestep(FORWARD, SINGLE);
|
||||
}
|
||||
void backwardstep1() {
|
||||
void backwardstep1() {
|
||||
myStepper1->onestep(BACKWARD, SINGLE);
|
||||
}
|
||||
|
||||
AccelStepper Astepper1(forwardstep1, backwardstep1); // use functions to step
|
||||
|
||||
void setup()
|
||||
{
|
||||
{
|
||||
Serial.begin(9600); // set up Serial library at 9600 bps
|
||||
Serial.println("Stepper test!");
|
||||
|
||||
AFMS.begin(); // create with the default frequency 1.6KHz
|
||||
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
|
||||
|
||||
Astepper1.setSpeed(50);
|
||||
if (!AFMS.begin()) { // create with the default frequency 1.6KHz
|
||||
// if (!AFMS.begin(1000)) { // OR with a different frequency, say 1KHz
|
||||
Serial.println("Could not find Motor Shield. Check wiring.");
|
||||
while (1);
|
||||
}
|
||||
Serial.println("Motor Shield found.");
|
||||
|
||||
Astepper1.setSpeed(50);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
{
|
||||
Astepper1.runSpeed();
|
||||
}
|
||||
|
||||
@@ -1,17 +1,15 @@
|
||||
// Shows how to run three Steppers at once with varying speeds
|
||||
//
|
||||
// Requires the Adafruit_Motorshield v2 library
|
||||
// Requires the Adafruit_Motorshield v2 library
|
||||
// https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
|
||||
// And AccelStepper with AFMotor support
|
||||
// And AccelStepper with AFMotor support
|
||||
// https://github.com/adafruit/AccelStepper
|
||||
|
||||
// This tutorial is for Adafruit Motorshield v2 only!
|
||||
// Will not work with v1 shields
|
||||
|
||||
#include <AccelStepper.h>
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_MotorShield.h>
|
||||
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||||
|
||||
Adafruit_MotorShield AFMSbot(0x61); // Rightmost jumper closed
|
||||
Adafruit_MotorShield AFMStop(0x60); // Default address, no jumpers
|
||||
@@ -27,24 +25,24 @@ Adafruit_StepperMotor *myStepper3 = AFMSbot.getStepper(200, 2);
|
||||
|
||||
// you can change these to DOUBLE or INTERLEAVE or MICROSTEP!
|
||||
// wrappers for the first motor!
|
||||
void forwardstep1() {
|
||||
void forwardstep1() {
|
||||
myStepper1->onestep(FORWARD, SINGLE);
|
||||
}
|
||||
void backwardstep1() {
|
||||
void backwardstep1() {
|
||||
myStepper1->onestep(BACKWARD, SINGLE);
|
||||
}
|
||||
// wrappers for the second motor!
|
||||
void forwardstep2() {
|
||||
void forwardstep2() {
|
||||
myStepper2->onestep(FORWARD, DOUBLE);
|
||||
}
|
||||
void backwardstep2() {
|
||||
void backwardstep2() {
|
||||
myStepper2->onestep(BACKWARD, DOUBLE);
|
||||
}
|
||||
// wrappers for the third motor!
|
||||
void forwardstep3() {
|
||||
void forwardstep3() {
|
||||
myStepper3->onestep(FORWARD, INTERLEAVE);
|
||||
}
|
||||
void backwardstep3() {
|
||||
void backwardstep3() {
|
||||
myStepper3->onestep(BACKWARD, INTERLEAVE);
|
||||
}
|
||||
|
||||
@@ -54,14 +52,14 @@ AccelStepper stepper2(forwardstep2, backwardstep2);
|
||||
AccelStepper stepper3(forwardstep3, backwardstep3);
|
||||
|
||||
void setup()
|
||||
{
|
||||
{
|
||||
AFMSbot.begin(); // Start the bottom shield
|
||||
AFMStop.begin(); // Start the top shield
|
||||
|
||||
|
||||
stepper1.setMaxSpeed(100.0);
|
||||
stepper1.setAcceleration(100.0);
|
||||
stepper1.moveTo(24);
|
||||
|
||||
|
||||
stepper2.setMaxSpeed(200.0);
|
||||
stepper2.setAcceleration(100.0);
|
||||
stepper2.moveTo(50000);
|
||||
|
||||
@@ -1,20 +1,18 @@
|
||||
/*
|
||||
/*
|
||||
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
|
||||
It won't work with v1.x motor shields! Only for the v2's with built in PWM
|
||||
control
|
||||
|
||||
For use with the Adafruit Motor Shield v2
|
||||
For use with the Adafruit Motor Shield v2
|
||||
----> http://www.adafruit.com/products/1438
|
||||
*/
|
||||
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_MotorShield.h>
|
||||
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||||
|
||||
// Create the motor shield object with the default I2C address
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
// Or, create it with a different I2C address (say for stacking)
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
|
||||
// Select which 'port' M1, M2, M3 or M4. In this case, M1
|
||||
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
|
||||
@@ -25,9 +23,13 @@ void setup() {
|
||||
Serial.begin(9600); // set up Serial library at 9600 bps
|
||||
Serial.println("Adafruit Motorshield v2 - DC Motor test!");
|
||||
|
||||
AFMS.begin(); // create with the default frequency 1.6KHz
|
||||
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
|
||||
|
||||
if (!AFMS.begin()) { // create with the default frequency 1.6KHz
|
||||
// if (!AFMS.begin(1000)) { // OR with a different frequency, say 1KHz
|
||||
Serial.println("Could not find Motor Shield. Check wiring.");
|
||||
while (1);
|
||||
}
|
||||
Serial.println("Motor Shield found.");
|
||||
|
||||
// Set the speed to start, from 0 (off) to 255 (max speed)
|
||||
myMotor->setSpeed(150);
|
||||
myMotor->run(FORWARD);
|
||||
@@ -37,28 +39,28 @@ void setup() {
|
||||
|
||||
void loop() {
|
||||
uint8_t i;
|
||||
|
||||
|
||||
Serial.print("tick");
|
||||
|
||||
myMotor->run(FORWARD);
|
||||
for (i=0; i<255; i++) {
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
delay(10);
|
||||
}
|
||||
for (i=255; i!=0; i--) {
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
delay(10);
|
||||
}
|
||||
|
||||
|
||||
Serial.print("tock");
|
||||
|
||||
myMotor->run(BACKWARD);
|
||||
for (i=0; i<255; i++) {
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
delay(10);
|
||||
}
|
||||
for (i=255; i!=0; i--) {
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
delay(10);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
/*
|
||||
/*
|
||||
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
|
||||
It won't work with v1.x motor shields! Only for the v2's with built in PWM
|
||||
control
|
||||
|
||||
For use with the Adafruit Motor Shield v2
|
||||
For use with the Adafruit Motor Shield v2
|
||||
----> http://www.adafruit.com/products/1438
|
||||
|
||||
This sketch creates a fun motor party on your desk *whiirrr*
|
||||
@@ -12,15 +12,13 @@ Connect a DC motor to M1
|
||||
Connect a hobby servo to SERVO1
|
||||
*/
|
||||
|
||||
#include <Wire.h>
|
||||
#include <Servo.h>
|
||||
#include <Adafruit_MotorShield.h>
|
||||
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||||
#include <Servo.h>
|
||||
|
||||
// Create the motor shield object with the default I2C address
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
// Or, create it with a different I2C address (say for stacking)
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
|
||||
// Connect a stepper motor with 200 steps per revolution (1.8 degree)
|
||||
// to motor port #2 (M3 and M4)
|
||||
@@ -36,18 +34,22 @@ void setup() {
|
||||
Serial.begin(9600); // set up Serial library at 9600 bps
|
||||
Serial.println("MMMMotor party!");
|
||||
|
||||
AFMS.begin(); // create with the default frequency 1.6KHz
|
||||
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
|
||||
|
||||
if (!AFMS.begin()) { // create with the default frequency 1.6KHz
|
||||
// if (!AFMS.begin(1000)) { // OR with a different frequency, say 1KHz
|
||||
Serial.println("Could not find Motor Shield. Check wiring.");
|
||||
while (1);
|
||||
}
|
||||
Serial.println("Motor Shield found.");
|
||||
|
||||
// Attach a servo to pin #10
|
||||
servo1.attach(10);
|
||||
|
||||
|
||||
// turn on motor M1
|
||||
myMotor->setSpeed(200);
|
||||
myMotor->run(RELEASE);
|
||||
|
||||
|
||||
// setup the stepper
|
||||
myStepper->setSpeed(10); // 10 rpm
|
||||
myStepper->setSpeed(10); // 10 rpm
|
||||
}
|
||||
|
||||
int i;
|
||||
@@ -55,29 +57,29 @@ void loop() {
|
||||
myMotor->run(FORWARD);
|
||||
for (i=0; i<255; i++) {
|
||||
servo1.write(map(i, 0, 255, 0, 180));
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
myStepper->step(1, FORWARD, INTERLEAVE);
|
||||
delay(3);
|
||||
}
|
||||
|
||||
|
||||
for (i=255; i!=0; i--) {
|
||||
servo1.write(map(i, 0, 255, 0, 180));
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
myStepper->step(1, BACKWARD, INTERLEAVE);
|
||||
delay(3);
|
||||
}
|
||||
|
||||
|
||||
myMotor->run(BACKWARD);
|
||||
for (i=0; i<255; i++) {
|
||||
servo1.write(map(i, 0, 255, 0, 180));
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
myStepper->step(1, FORWARD, DOUBLE);
|
||||
delay(3);
|
||||
}
|
||||
|
||||
|
||||
for (i=255; i!=0; i--) {
|
||||
servo1.write(map(i, 0, 255, 0, 180));
|
||||
myMotor->setSpeed(i);
|
||||
myMotor->setSpeed(i);
|
||||
myStepper->step(1, BACKWARD, DOUBLE);
|
||||
delay(3);
|
||||
}
|
||||
|
||||
@@ -1,15 +1,13 @@
|
||||
/*
|
||||
/*
|
||||
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
|
||||
It won't work with v1.x motor shields! Only for the v2's with built in PWM
|
||||
control
|
||||
|
||||
For use with the Adafruit Motor Shield v2
|
||||
For use with the Adafruit Motor Shield v2
|
||||
----> http://www.adafruit.com/products/1438
|
||||
*/
|
||||
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_MotorShield.h>
|
||||
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||||
|
||||
Adafruit_MotorShield AFMSbot(0x61); // Rightmost jumper closed
|
||||
Adafruit_MotorShield AFMStop(0x60); // Default address, no jumpers
|
||||
@@ -30,7 +28,7 @@ void setup() {
|
||||
|
||||
AFMSbot.begin(); // Start the bottom shield
|
||||
AFMStop.begin(); // Start the top shield
|
||||
|
||||
|
||||
// turn on the DC motor
|
||||
myMotor1->setSpeed(200);
|
||||
myMotor1->run(RELEASE);
|
||||
@@ -39,35 +37,35 @@ void setup() {
|
||||
int i;
|
||||
void loop() {
|
||||
myMotor1->run(FORWARD);
|
||||
|
||||
|
||||
for (i=0; i<255; i++) {
|
||||
myMotor1->setSpeed(i);
|
||||
myMotor1->setSpeed(i);
|
||||
myStepper1->onestep(FORWARD, INTERLEAVE);
|
||||
myStepper2->onestep(BACKWARD, DOUBLE);
|
||||
myStepper3->onestep(FORWARD, MICROSTEP);
|
||||
delay(3);
|
||||
}
|
||||
|
||||
|
||||
for (i=255; i!=0; i--) {
|
||||
myMotor1->setSpeed(i);
|
||||
myMotor1->setSpeed(i);
|
||||
myStepper1->onestep(BACKWARD, INTERLEAVE);
|
||||
myStepper2->onestep(FORWARD, DOUBLE);
|
||||
myStepper3->onestep(BACKWARD, MICROSTEP);
|
||||
delay(3);
|
||||
}
|
||||
|
||||
|
||||
myMotor1->run(BACKWARD);
|
||||
|
||||
|
||||
for (i=0; i<255; i++) {
|
||||
myMotor1->setSpeed(i);
|
||||
myMotor1->setSpeed(i);
|
||||
myStepper1->onestep(FORWARD, DOUBLE);
|
||||
myStepper2->onestep(BACKWARD, INTERLEAVE);
|
||||
myStepper3->onestep(FORWARD, MICROSTEP);
|
||||
delay(3);
|
||||
}
|
||||
|
||||
|
||||
for (i=255; i!=0; i--) {
|
||||
myMotor1->setSpeed(i);
|
||||
myMotor1->setSpeed(i);
|
||||
myStepper1->onestep(BACKWARD, DOUBLE);
|
||||
myStepper2->onestep(FORWARD, INTERLEAVE);
|
||||
myStepper3->onestep(BACKWARD, MICROSTEP);
|
||||
|
||||
@@ -1,21 +1,18 @@
|
||||
/*
|
||||
/*
|
||||
This is a test sketch for the Adafruit assembled Motor Shield for Arduino v2
|
||||
It won't work with v1.x motor shields! Only for the v2's with built in PWM
|
||||
control
|
||||
|
||||
For use with the Adafruit Motor Shield v2
|
||||
----> http://www.adafruit.com/products/1438
|
||||
For use with the Adafruit Motor Shield v2
|
||||
----> http://www.adafruit.com/products/1438
|
||||
*/
|
||||
|
||||
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_MotorShield.h>
|
||||
#include "utility/Adafruit_MS_PWMServoDriver.h"
|
||||
|
||||
// Create the motor shield object with the default I2C address
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
// Or, create it with a different I2C address (say for stacking)
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61);
|
||||
|
||||
// Connect a stepper motor with 200 steps per revolution (1.8 degree)
|
||||
// to motor port #2 (M3 and M4)
|
||||
@@ -24,28 +21,33 @@ Adafruit_StepperMotor *myMotor = AFMS.getStepper(200, 2);
|
||||
|
||||
void setup() {
|
||||
Serial.begin(9600); // set up Serial library at 9600 bps
|
||||
while (!Serial);
|
||||
Serial.println("Stepper test!");
|
||||
|
||||
AFMS.begin(); // create with the default frequency 1.6KHz
|
||||
//AFMS.begin(1000); // OR with a different frequency, say 1KHz
|
||||
|
||||
myMotor->setSpeed(10); // 10 rpm
|
||||
if (!AFMS.begin()) { // create with the default frequency 1.6KHz
|
||||
// if (!AFMS.begin(1000)) { // OR with a different frequency, say 1KHz
|
||||
Serial.println("Could not find Motor Shield. Check wiring.");
|
||||
while (1);
|
||||
}
|
||||
Serial.println("Motor Shield found.");
|
||||
|
||||
myMotor->setSpeed(10); // 10 rpm
|
||||
}
|
||||
|
||||
void loop() {
|
||||
Serial.println("Single coil steps");
|
||||
myMotor->step(100, FORWARD, SINGLE);
|
||||
myMotor->step(100, BACKWARD, SINGLE);
|
||||
myMotor->step(100, FORWARD, SINGLE);
|
||||
myMotor->step(100, BACKWARD, SINGLE);
|
||||
|
||||
Serial.println("Double coil steps");
|
||||
myMotor->step(100, FORWARD, DOUBLE);
|
||||
myMotor->step(100, FORWARD, DOUBLE);
|
||||
myMotor->step(100, BACKWARD, DOUBLE);
|
||||
|
||||
|
||||
Serial.println("Interleave coil steps");
|
||||
myMotor->step(100, FORWARD, INTERLEAVE);
|
||||
myMotor->step(100, BACKWARD, INTERLEAVE);
|
||||
|
||||
myMotor->step(100, FORWARD, INTERLEAVE);
|
||||
myMotor->step(100, BACKWARD, INTERLEAVE);
|
||||
|
||||
Serial.println("Microstep steps");
|
||||
myMotor->step(50, FORWARD, MICROSTEP);
|
||||
myMotor->step(50, FORWARD, MICROSTEP);
|
||||
myMotor->step(50, BACKWARD, MICROSTEP);
|
||||
}
|
||||
@@ -0,0 +1,121 @@
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_MotorShield.h>
|
||||
#include <Adafruit_SSD1306.h>
|
||||
|
||||
// Connect to the two encoder outputs!
|
||||
#define ENCODER_A 12
|
||||
#define ENCODER_B 11
|
||||
|
||||
// These let us convert ticks-to-RPM
|
||||
#define GEARING 20
|
||||
#define ENCODERMULT 12
|
||||
|
||||
// Create the motor shield object with the default I2C address
|
||||
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
|
||||
// And connect a DC motor to port M1
|
||||
Adafruit_DCMotor *myMotor = AFMS.getMotor(1);
|
||||
// We'll display the speed/direction on the OLED
|
||||
Adafruit_SSD1306 display = Adafruit_SSD1306(128, 32, &Wire);
|
||||
|
||||
volatile float RPM = 0;
|
||||
volatile uint32_t lastA = 0;
|
||||
volatile bool motordir = FORWARD;
|
||||
|
||||
void interruptA() {
|
||||
motordir = digitalRead(ENCODER_B);
|
||||
|
||||
digitalWrite(LED_BUILTIN, HIGH);
|
||||
uint32_t currA = micros();
|
||||
if (lastA < currA) {
|
||||
// did not wrap around
|
||||
float rev = currA - lastA; // us
|
||||
rev = 1.0 / rev; // rev per us
|
||||
rev *= 1000000; // rev per sec
|
||||
rev *= 60; // rev per min
|
||||
rev /= GEARING; // account for gear ratio
|
||||
rev /= ENCODERMULT; // account for multiple ticks per rotation
|
||||
RPM = rev;
|
||||
}
|
||||
lastA = currA;
|
||||
digitalWrite(LED_BUILTIN, LOW);
|
||||
}
|
||||
|
||||
void setup() {
|
||||
Serial.begin(9600); // set up Serial library at 9600 bps
|
||||
pinMode(LED_BUILTIN, OUTPUT);
|
||||
digitalWrite(LED_BUILTIN, LOW);
|
||||
|
||||
pinMode(ENCODER_B, INPUT_PULLUP);
|
||||
pinMode(ENCODER_A, INPUT_PULLUP);
|
||||
attachInterrupt(ENCODER_A, interruptA, RISING);
|
||||
|
||||
delay(100);
|
||||
|
||||
// SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
|
||||
if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { // Address 0x3C for 128x32
|
||||
Serial.println(F("SSD1306 allocation failed"));
|
||||
for(;;); // Don't proceed, loop forever
|
||||
}
|
||||
display.display();
|
||||
display.setTextSize(2);
|
||||
display.setTextColor(WHITE);
|
||||
|
||||
//while (!Serial) delay(1);
|
||||
|
||||
Serial.println("MMMMotor party!");
|
||||
if (!AFMS.begin()) { // create with the default frequency 1.6KHz
|
||||
// if (!AFMS.begin(1000)) { // OR with a different frequency, say 1KHz
|
||||
Serial.println("Could not find Motor Shield. Check wiring.");
|
||||
while (1);
|
||||
}
|
||||
Serial.println("Motor Shield found."); Serial.println("Begun");
|
||||
// turn on motor M1
|
||||
myMotor->setSpeed(0);
|
||||
}
|
||||
|
||||
void printRPM() {
|
||||
display.clearDisplay();
|
||||
display.setCursor(0,0);
|
||||
|
||||
Serial.print("Direction: ");
|
||||
if (motordir) {
|
||||
display.println("Forward");
|
||||
Serial.println("forward @ ");
|
||||
} else {
|
||||
display.println("Backward");
|
||||
Serial.println("backward @ ");
|
||||
}
|
||||
display.print((int)RPM); display.println(" RPM");
|
||||
Serial.print((int)RPM); Serial.println(" RPM");
|
||||
display.display();
|
||||
}
|
||||
|
||||
int i;
|
||||
void loop() {
|
||||
delay(50);
|
||||
myMotor->run(FORWARD);
|
||||
for (i=0; i<255; i++) {
|
||||
myMotor->setSpeed(i);
|
||||
delay(20);
|
||||
printRPM();
|
||||
}
|
||||
|
||||
for (i=255; i!=0; i--) {
|
||||
myMotor->setSpeed(i);
|
||||
delay(20);
|
||||
printRPM();
|
||||
}
|
||||
|
||||
myMotor->run(BACKWARD);
|
||||
for (i=0; i<255; i++) {
|
||||
myMotor->setSpeed(i);
|
||||
delay(20);
|
||||
printRPM();
|
||||
}
|
||||
|
||||
for (i=255; i!=0; i--) {
|
||||
myMotor->setSpeed(i);
|
||||
delay(20);
|
||||
printRPM();
|
||||
}
|
||||
}
|
||||
@@ -1,5 +1,5 @@
|
||||
name=Adafruit Motor Shield V2 Library
|
||||
version=1.0.4
|
||||
version=1.1.1
|
||||
author=Adafruit
|
||||
maintainer=Adafruit <info@adafruit.com>
|
||||
sentence=Library for the Adafruit Motor Shield V2 for Arduino. It supports DC motors & stepper motors with microstepping as well as stacking-support.
|
||||
@@ -7,3 +7,4 @@ paragraph=Library for the Adafruit Motor Shield V2 for Arduino. It supports DC m
|
||||
category=Device Control
|
||||
url=https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
|
||||
architectures=*
|
||||
depends=Adafruit ILI9341, Adafruit GFX Library, Adafruit SSD1306, AccelStepper, Servo
|
||||
|
||||
@@ -16,98 +16,71 @@
|
||||
****************************************************/
|
||||
|
||||
#include <Adafruit_MS_PWMServoDriver.h>
|
||||
#include <Wire.h>
|
||||
#if defined(ARDUINO_SAM_DUE)
|
||||
#define WIRE Wire1
|
||||
#else
|
||||
#define WIRE Wire
|
||||
#endif
|
||||
|
||||
|
||||
Adafruit_MS_PWMServoDriver::Adafruit_MS_PWMServoDriver(uint8_t addr) {
|
||||
_i2caddr = addr;
|
||||
}
|
||||
|
||||
void Adafruit_MS_PWMServoDriver::begin(void) {
|
||||
//Wire.begin(); called in ESPEasy framework
|
||||
reset();
|
||||
bool Adafruit_MS_PWMServoDriver::begin(TwoWire *theWire) {
|
||||
if (i2c_dev)
|
||||
delete i2c_dev;
|
||||
i2c_dev = new Adafruit_I2CDevice(_i2caddr, theWire);
|
||||
if (!i2c_dev->begin())
|
||||
return false;
|
||||
reset();
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void Adafruit_MS_PWMServoDriver::reset(void) {
|
||||
write8(PCA9685_MODE1, 0x0);
|
||||
}
|
||||
void Adafruit_MS_PWMServoDriver::reset(void) { write8(PCA9685_MODE1, 0x0); }
|
||||
|
||||
void Adafruit_MS_PWMServoDriver::setPWMFreq(float freq) {
|
||||
//Serial.print("Attempting to set freq ");
|
||||
//Serial.println(freq);
|
||||
// Serial.print("Attempting to set freq ");
|
||||
// Serial.println(freq);
|
||||
|
||||
freq *= 0.9f; // Correct for overshoot in the frequency setting (see issue #11).
|
||||
freq *=
|
||||
0.9; // Correct for overshoot in the frequency setting (see issue #11).
|
||||
|
||||
float prescaleval = 25000000;
|
||||
prescaleval /= 4096;
|
||||
prescaleval /= freq;
|
||||
prescaleval -= 1;
|
||||
//Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
|
||||
uint8_t prescale = floor(prescaleval + 0.5f);
|
||||
//Serial.print("Final pre-scale: "); Serial.println(prescale);
|
||||
// Serial.print("Estimated pre-scale: "); Serial.println(prescaleval);
|
||||
uint8_t prescale = floor(prescaleval + 0.5);
|
||||
// Serial.print("Final pre-scale: "); Serial.println(prescale);
|
||||
|
||||
uint8_t oldmode = read8(PCA9685_MODE1);
|
||||
uint8_t newmode = (oldmode&0x7F) | 0x10; // sleep
|
||||
write8(PCA9685_MODE1, newmode); // go to sleep
|
||||
write8(PCA9685_PRESCALE, prescale); // set the prescaler
|
||||
uint8_t newmode = (oldmode & 0x7F) | 0x10; // sleep
|
||||
write8(PCA9685_MODE1, newmode); // go to sleep
|
||||
write8(PCA9685_PRESCALE, prescale); // set the prescaler
|
||||
write8(PCA9685_MODE1, oldmode);
|
||||
delay(5);
|
||||
write8(PCA9685_MODE1, oldmode | 0xa1); // This sets the MODE1 register to turn on auto increment.
|
||||
// This is why the beginTransmission below was not working.
|
||||
write8(PCA9685_MODE1,
|
||||
oldmode |
|
||||
0xa1); // This sets the MODE1 register to turn on auto increment.
|
||||
// This is why the beginTransmission below was not working.
|
||||
// Serial.print("Mode now 0x"); Serial.println(read8(PCA9685_MODE1), HEX);
|
||||
}
|
||||
|
||||
void Adafruit_MS_PWMServoDriver::setPWM(uint8_t num, uint16_t on, uint16_t off) {
|
||||
//Serial.print("Setting PWM "); Serial.print(num); Serial.print(": "); Serial.print(on); Serial.print("->"); Serial.println(off);
|
||||
|
||||
WIRE.beginTransmission(_i2caddr);
|
||||
#if ARDUINO >= 100
|
||||
WIRE.write(LED0_ON_L+4*num);
|
||||
WIRE.write(on);
|
||||
WIRE.write(on>>8);
|
||||
WIRE.write(off);
|
||||
WIRE.write(off>>8);
|
||||
#else
|
||||
WIRE.send(LED0_ON_L+4*num);
|
||||
WIRE.send((uint8_t)on);
|
||||
WIRE.send((uint8_t)(on>>8));
|
||||
WIRE.send((uint8_t)off);
|
||||
WIRE.send((uint8_t)(off>>8));
|
||||
#endif
|
||||
WIRE.endTransmission();
|
||||
void Adafruit_MS_PWMServoDriver::setPWM(uint8_t num, uint16_t on,
|
||||
uint16_t off) {
|
||||
// Serial.print("Setting PWM "); Serial.print(num); Serial.print(": ");
|
||||
// Serial.print(on); Serial.print("->"); Serial.println(off);
|
||||
uint8_t buffer[5];
|
||||
buffer[0] = LED0_ON_L + 4 * num;
|
||||
buffer[1] = on;
|
||||
buffer[2] = on >> 8;
|
||||
buffer[3] = off;
|
||||
buffer[4] = off >> 8;
|
||||
i2c_dev->write(buffer, 5);
|
||||
}
|
||||
|
||||
uint8_t Adafruit_MS_PWMServoDriver::read8(uint8_t addr) {
|
||||
WIRE.beginTransmission(_i2caddr);
|
||||
#if ARDUINO >= 100
|
||||
WIRE.write(addr);
|
||||
#else
|
||||
WIRE.send(addr);
|
||||
#endif
|
||||
WIRE.endTransmission();
|
||||
|
||||
WIRE.requestFrom((uint8_t)_i2caddr, (uint8_t)1);
|
||||
#if ARDUINO >= 100
|
||||
return WIRE.read();
|
||||
#else
|
||||
return WIRE.receive();
|
||||
#endif
|
||||
uint8_t buffer[1] = {addr};
|
||||
i2c_dev->write_then_read(buffer, 1, buffer, 1);
|
||||
return buffer[0];
|
||||
}
|
||||
|
||||
void Adafruit_MS_PWMServoDriver::write8(uint8_t addr, uint8_t d) {
|
||||
WIRE.beginTransmission(_i2caddr);
|
||||
#if ARDUINO >= 100
|
||||
WIRE.write(addr);
|
||||
WIRE.write(d);
|
||||
#else
|
||||
WIRE.send(addr);
|
||||
WIRE.send(d);
|
||||
#endif
|
||||
WIRE.endTransmission();
|
||||
uint8_t buffer[2] = {addr, d};
|
||||
i2c_dev->write(buffer, 2);
|
||||
}
|
||||
|
||||
@@ -1,17 +1,17 @@
|
||||
/***************************************************
|
||||
/***************************************************
|
||||
This is a library for our Adafruit 16-channel PWM & Servo driver
|
||||
|
||||
Pick one up today in the adafruit shop!
|
||||
------> http://www.adafruit.com/products/815
|
||||
|
||||
These displays use I2C to communicate, 2 pins are required to
|
||||
These displays use I2C to communicate, 2 pins are required to
|
||||
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
|
||||
|
||||
Adafruit invests time and resources providing this open source code,
|
||||
please support Adafruit and open-source hardware by purchasing
|
||||
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.
|
||||
Written by Limor Fried/Ladyada for Adafruit Industries.
|
||||
BSD license, all text above must be included in any redistribution
|
||||
****************************************************/
|
||||
|
||||
@@ -19,11 +19,12 @@
|
||||
#define _Adafruit_MS_PWMServoDriver_H
|
||||
|
||||
#if ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#include <Adafruit_I2CDevice.h>
|
||||
|
||||
#define PCA9685_SUBADR1 0x2
|
||||
#define PCA9685_SUBADR2 0x3
|
||||
@@ -42,17 +43,17 @@
|
||||
#define ALLLED_OFF_L 0xFC
|
||||
#define ALLLED_OFF_H 0xFD
|
||||
|
||||
|
||||
class Adafruit_MS_PWMServoDriver {
|
||||
public:
|
||||
public:
|
||||
Adafruit_MS_PWMServoDriver(uint8_t addr = 0x40);
|
||||
void begin(void);
|
||||
bool begin(TwoWire *theWire = &Wire);
|
||||
void reset(void);
|
||||
void setPWMFreq(float freq);
|
||||
void setPWM(uint8_t num, uint16_t on, uint16_t off);
|
||||
|
||||
private:
|
||||
private:
|
||||
uint8_t _i2caddr;
|
||||
Adafruit_I2CDevice *i2c_dev = NULL; ///< Pointer to I2C bus interface
|
||||
|
||||
uint8_t read8(uint8_t addr);
|
||||
void write8(uint8_t addr, uint8_t d);
|
||||
|
||||
Reference in New Issue
Block a user