Added IO expander.

Author: dhebbeker

robot-control-src/board.cpp

@@ -2,11 +2,10 @@
 #include <Arduino.h>
 
 namespace board {
-decltype(leftOdoSignal) leftOdoSignal;
-decltype(rightOdoSignal) rightOdoSignal;
-decltype(rightBackwards) rightBackwards;
-decltype(leftBackwards) leftBackwards;
-decltype(leftMotor) leftMotor = D1;
-decltype(rightMotor) rightMotor = D2;
-decltype(debugLed) debugLed = D0;
+constexpr std::uint8_t ioExpander1Address = 0x00;
+MCP23017 ioExpander1(ioExpander1Address);
+MCP23017Pin leftBackwards(ioExpander1, 8+0);
+MCP23017Pin rightBackwards(ioExpander1, 8+1);
+MCP23017Pin leftBumper(ioExpander1, 8+6);
+MCP23017Pin rightBumper(ioExpander1, 8+7);
 };

robot-control-src/board.hpp

@@ -1,21 +1,30 @@
 #if !defined(BOARD_HPP)
 #define BOARD_HPP
 #include "DigitalPin.hpp"
+#include "MCP23017Pin.hpp"
 #include <Arduino.h>
 #include <cmath>
+#include <MCP23017.h>
 
 typedef decltype(millis()) Milliseconds;
 constexpr auto pi = std::acos(-1);
 
 namespace board
 {
-extern DigitalPin<D6> leftOdoSignal;
-extern DigitalPin<D5> rightOdoSignal;
-extern DigitalPin<D5> rightBackwards;
-extern DigitalPin<D5> leftBackwards;
-extern const std::uint8_t leftMotor;
-extern const std::uint8_t rightMotor;
-extern const std::uint8_t debugLed;
+constexpr std::uint8_t debugLed = D0;
+constexpr std::uint8_t leftMotor = D1;
+constexpr std::uint8_t rightMotor = D2;
+constexpr std::uint8_t scl = D3;
+constexpr std::uint8_t sda = D4;
+constexpr std::uint8_t rightOdoSignal = D5;
+constexpr std::uint8_t leftOdoSignal = D6;
+constexpr std::uint8_t ioExpanderIntB = D7;
+constexpr std::uint8_t ioExpanderIntAInv = D8;
+extern MCP23017 ioExpander1;
+extern MCP23017Pin leftBackwards;
+extern MCP23017Pin rightBackwards;
+extern MCP23017Pin leftBumper;
+extern MCP23017Pin rightBumper;
 
 constexpr auto maxVelocity = 220; //!< [mm/s]
 constexpr float odoIntervalLength = 12*pi; //!< [mm]

robot-control-src/robot-control-src.ino

@@ -82,6 +82,7 @@ void setup()
   Serial.flush();
   delay(100);
   Serial.printf("\n begin program '%s'\n", __FILE__);
+  board::ioExpander1.init();
   pinMode(board::debugLed, OUTPUT);
   digitalWrite(board::debugLed, LOW);
   drives::leftDrive.init();