tidy up folder, add library properties

Author: modspi

.gitignore

@@ -1,2 +1,5 @@
 # MODSPI_Modules
 Arduino Library to interface with MODSPI Modules
+
+
+See https://www.modspi.com/modules for information on all of the modules we offer.

README.md

@@ -0,0 +1,28 @@
+#include <MODSPI.h>
+
+// Create an instance of the MODSPI_AnalogInputs class named "analogInputs1".
+// If you have multiple Analog Input modules, you'll need to create multiple instances.
+MODSPI_AnalogInputs analogInputs1;
+
+void setup() {
+  // Initialize the analogInputs1 instance with D5 as the chip select pin.
+  analogInputs1.begin(D5); // D5 is the chip select pin.
+}
+
+void loop() {
+  // Loop through analog inputs 0 to 1 and read their values and voltages.
+  for (int a = 0; a <= 1; a++) {
+    int readADCValue = analogInputs1.readValue(a);   // Read the raw ADC value of input 'a'.
+    float readADCVoltage = analogInputs1.readVoltage(a); // Read the voltage of input 'a'.
+    
+    // Print the ADC value and voltage to the serial monitor.
+    Serial.print("Analog Input ");
+    Serial.print(a);
+    Serial.print(": ADC Value = ");
+    Serial.print(readADCValue);
+    Serial.print(", Voltage = ");
+    Serial.println(readADCVoltage);
+  }
+  
+  delay(500); // Wait for 500 milliseconds before repeating the loop.
+}

examples/AnalogInputs/AnalogInputs.ino

@@ -0,0 +1,28 @@
+#include <MODSPI.h>
+
+// Create an instance of the MODSPI_AnalogOutputs class named "analogOutputs1".
+// If you have multiple Analog Output modules, you'll need to create multiple instances.
+MODSPI_AnalogOutputs analogOutputs1;
+
+void setup() {
+  // Initialize the analogOutputs1 instance with D5 as the chip select pin.
+  analogOutputs1.begin(D5); // D5 is the chip select pin.
+}
+
+void loop() {
+  // Ramp up from 0.0V to 10.0V on channel 0 by setting raw values (0 to 4095).
+  for (int a = 0; a <= 4095; a++) {
+    analogOutputs1.writeValue(0, a); // Set channel 0 to value 'a'.
+    delay(1); // Wait for 1 millisecond before setting the next value.
+  }
+
+  delay(2000); // Wait for 1 second before continuing.
+
+  // Ramp up from 0.0V to 10.0V on channel 0 by setting a voltage.
+  for (float a = 0; a <= 10; a += 0.2) {
+    analogOutputs1.writeVoltage(0, a); // Set channel 0 to voltage 'a'.
+    delay(100); // Wait for 100 milliseconds before setting the next voltage.
+  }
+
+  delay(2000); // Wait for 2 seconds before repeating the loop.
+}

examples/AnalogOutputs/AnalogOutputs.ino

@@ -0,0 +1,28 @@
+#include <MODSPI.h>
+
+// Create an instance of the MODSPI_DigitalInputs class named "inputs1".
+// If you have multiple Digital Input modules, you'll need to create multiple instances.
+MODSPI_DigitalInputs inputs1;
+
+void setup() {
+  Serial.begin(115200); // Initialize serial communication at a baud rate of 115200.
+  inputs1.begin(D5);    // Initialize the inputs1 instance with D5 as the chip select pin.
+}
+
+void loop() {
+  // Loop through digital inputs 0 to 7 and read their values.
+  for (int a = 0; a <= 7; a++) {
+    bool readInput = inputs1.read(a); // Read the value of input 'a'.
+    Serial.print("Input");
+    Serial.print(a);                  // Print the input number.
+    Serial.print(": ");
+    Serial.println(readInput);        // Print the value of the input (HIGH or LOW).
+  }
+
+  // Read the values of all inputs simultaneously.
+  int8_t readAllInputs = inputs1.readAll(); // Read all inputs and return a byte with each bit representing an input.
+  Serial.print("readAll: ");
+  Serial.println(readAllInputs);            // Print the combined value of all inputs.
+
+  delay(500); // Wait for 500 milliseconds before repeating the loop.
+}

examples/DigitalInputs/DigitalInputs.ino

@@ -0,0 +1,23 @@
+#include <MODSPI.h>
+
+// Create an instance of the MODSPI_DigitalOutputs class named "outputs1".
+// If you have multiple Digital Output modules, you'll need to create multiple instances.
+MODSPI_DigitalOutputs outputs1; 
+
+void setup() {
+  // Initialize the outputs1 instance with D5 as the chip select pin.
+  outputs1.begin(D5); // D5 is the chip select pin.
+
+  outputs1.writeAll(255); // Set all of the output channels to HIGH.
+  delay(300); // Wait for 300 milliseconds.
+  outputs1.writeAll(0); // Set all of the output channels to LOW.
+}
+
+void loop() {
+  // Loop through digital outputs 0 to 7, turning each on and off in sequence.
+  for (int a = 0; a <= 7; a++) {
+    outputs1.write(a, HIGH); // Set the output 'a' to HIGH.
+    delay(100); // Wait for 100 milliseconds.
+    outputs1.write(a, LOW);  // Set the output 'a' to LOW.
+  }  
+}

examples/DigitalOutputs/DigitalOutputs.ino

@@ -0,0 +1,18 @@
+#include <MODSPI.h>
+
+// Create an instance of the MODSPI_QuadRelays class named "relays1".
+// If you have multiple relay modules, you'll need to create multiple instances.
+MODSPI_QuadRelays relays1;
+
+void setup() {
+  relays1.begin(D5); // D5 is the chip select pin.
+}
+
+void loop() {
+  for (int a = 1; a <= 4; a++) {
+    relays1.write(a,HIGH); // Set the relay 'a' to HIGH.
+    delay(100); // Wait for 100 milliseconds.
+    relays1.write(a,LOW); // Set the relay 'a' to LOW.
+    delay(100); // Wait for 100 milliseconds.
+  }
+}

examples/QuadRelays/QuadRelays.ino

@@ -0,0 +1,167 @@
+#include <MODSPI.h>
+
+//MODSPI - Homing Routine Example
+// This is an example of how todo advanced homing with the MODSPI system
+// The routine looks for a rising edge of a homing switch, moving the motor towards it
+// Once a rising edge is found, it backs away at a slower speed to find the falling edge
+// The axis then moves towards a park position. Once parked it moves to a far away position and then 
+// back towards the homing switch where it repeats the loop.
+//
+// Note: this code is also in MM and converts to Steps. 
+// This routine requires a stepper motor module & a digital inputs module
+// It is only intended as a guide to help you test and structure your code. 
+// ---------------------------------------------------------------------------------------------
+
+// Create an instance of the MODSPI_StepperController class named "motor1".
+MODSPI_StepperController motor1;
+//Create an instance of the MODSPI_DigitalInputs class named "inputs1"
+MODSPI_DigitalInputs inputs1;
+
+const float motorRatedCurrent = 1.0;  //The maximum current of the motor specified.
+const float runCurrent = 0.8;         //The current used when the motor is moving
+const float idleCurrent = 0.2;        //The current used when the motor is idle.
+
+float stepsPerRotation = 200;  //Most motors have 200 steps per revolution
+float mmPerRotation = 40;      //20tooth x 2mm pitch
+float stepsPerMM = stepsPerRotation / mmPerRotation;
+
+float speedMM = 200;      //Move at 200mm per second
+float accelMM = 200;      //Accelerate at 200mm per second
+float homeSpeedMM = 40;   //Home at 80mm per second
+float homeAccelMM = 200;  //Home accel at 200mm per second
+
+float travelLimitMM = 300;  // max travel of 300mm
+float parkPositionMM = 5;   // parked poisition of 5mm
+float OutPositionMM = 250;  // move motor to out position
+float MidPositionMM = 50;  // Position near the homing
+
+float speedSteps = (speedMM / mmPerRotation) * stepsPerRotation;
+float accelSteps = (accelMM / mmPerRotation) * stepsPerRotation;
+float homeSpeedSteps = (homeSpeedMM / mmPerRotation) * stepsPerRotation;
+float homeAccelSteps = (accelMM / mmPerRotation) * stepsPerRotation;
+float travelLimitSteps = (travelLimitMM / mmPerRotation) * stepsPerRotation;
+float parkPositionSteps = (parkPositionMM / mmPerRotation) * stepsPerRotation;
+float OutPositionSteps = (OutPositionMM / mmPerRotation) * stepsPerRotation;
+float MidPositionSteps = (MidPositionMM / mmPerRotation) * stepsPerRotation;
+
+enum HomingState {
+  UNKNOWN,
+  LOOKING_FOR_RISING_EDGE,
+  LOOKING_FOR_FALLING_EDGE,
+  PARKING,
+  HOMED,
+  FAILED
+}; 
+HomingState homingState1;
+
+
+enum MovingState {
+  NONE,
+  MovingOut,
+  MovingIn
+}; 
+MovingState movingState1;
+
+
+void setup() {
+  motor1.begin(bay1);   // Stepper Motor module is inserted into bay1 (chip select D5)
+  inputs1.begin(bay2);  // Digital Input module is inserted into bay2 (chip select D6)
+
+  // Optional settings
+  motor1.setMaxSpeed(speedSteps);                                   //Set speed to 2 revolutions per second.
+  motor1.setAcceleration(accelSteps);                               // set acceleration to 4 revolutions per second per second.
+  motor1.setCurrent(motorRatedCurrent, runCurrent, idleCurrent);  //Set the currents of the motor
+  motor1.setCurrentPosition(0);                                   // reset the current position to 0.
+}
+
+void loop() {
+  delay(1);  //Wait 1ms
+
+  if (homingState1 != HOMED) {
+    homeMotor1();  //Home Motor routine
+  } else {
+    if (motor1.isTargetPositionReached()) { 
+      homingState1 = UNKNOWN;
+    }
+  }
+}
+
+void homeMotor1() {
+  bool motor1HomeSwitchState = debounceSwitch(7);
+
+  switch (homingState1) {
+    case UNKNOWN:
+      motor1.fastStop(); //Quickly stops the motor
+      motor1.setCurrentPosition(0);  //reset the current position
+      Serial.println("Starting homing.");
+      motor1.setMaxSpeed(homeSpeedSteps); //Set speed to homing speed
+      motor1.setAcceleration(homeAccelSteps); // set acceleration to homing accleration
+      motor1.setTargetPosition(-travelLimitSteps);  //move backwards towards homing switch
+      homingState1 = LOOKING_FOR_RISING_EDGE;
+      break;
+
+    case LOOKING_FOR_RISING_EDGE:
+      if (motor1HomeSwitchState == HIGH) {
+        Serial.println("Rising Edge found! Now looking for falling edge.");
+        motor1.fastStop(); //quickly stop the motor
+        motor1.setCurrentPosition(0); //reset the current position
+        motor1.setMaxSpeed(homeSpeedSteps / 5);  //set speed to 1/5th speed of homing
+        motor1.setAcceleration(homeAccelSteps / 5); //set acceleration to 1/5th the homing accel
+        motor1.setTargetPosition(travelLimitSteps);  //move forwards slowly away from homing switch
+        homingState1 = LOOKING_FOR_FALLING_EDGE;
+      } else if (motor1.isTargetPositionReached()) {
+        Serial.println("Failed to find homing switch rising edge within travel limit");
+        homingState1 = FAILED;
+      }
+      break;
+
+    case LOOKING_FOR_FALLING_EDGE:
+      if (motor1HomeSwitchState == LOW) {
+        Serial.println("Falling Edge found! Now parking.");
+        motor1.fastStop(); //Quickly stop the motor
+        motor1.setCurrentPosition(0); //reset the position
+        motor1.setMaxSpeed(speedSteps); //set speed to normal speed
+        motor1.setAcceleration(accelSteps); //set acceleration to normal acceleration
+        motor1.setTargetPosition(parkPositionSteps);  //move forwards to park position away from homing switch
+        homingState1 = PARKING;
+      } else if (motor1.isTargetPositionReached()) {
+        Serial.println("Failed to find homing switch falling edge within travel limit");
+        homingState1 = FAILED;
+      }
+      break;
+
+    case PARKING:
+      if (motor1.isTargetPositionReached()) {
+        Serial.println("Homing Finished");
+        homingState1 = HOMED;
+      }
+      break;
+  }
+}
+
+void moveMotor1() {
+  if (motor1.isTargetPositionReached()) {
+    switch (movingState1) {
+      case NONE:
+        motor1.setTargetPosition(OutPositionSteps); //move to out position
+        movingState1 = MovingOut;
+        break;
+      case MovingOut:
+        motor1.setTargetPosition(MidPositionSteps); //move to mid position near homing
+        movingState1 = MovingIn;
+        break;
+      case MovingIn:
+        movingState1 = NONE; //stop moving and start homing
+        homingState1 = UNKNOWN; //reset routine to start homing again
+        break;
+    }
+  }
+}
+
+bool debounceSwitch(int Din) {
+  //Sometimes the digital input is a little noisy. This function just adds a delay before reading again. 
+  //Optional, but helps with reliability of homing.
+  bool startState = inputs1.read(Din);
+  delay(5);
+  return inputs1.read(Din);
+}

examples/StepperController/HomeStepper/HomeStepper.ino

@@ -0,0 +1,55 @@
+#include <MODSPI.h>
+
+// Create an instance of the MODSPI_StepperController class named "motor1".
+MODSPI_StepperController motor1;
+// Create a second instance for motor2
+MODSPI_StepperController motor2;
+
+const float motorRatedCurrent = 1.0; //The maximum current of the motor specified.
+const float runCurrent = 0.8; //The current used when the motor is moving
+const float idleCurrent = 0.2; //The current used when the motor is idle. 
+const int maxSpeed = 2 * 200; //Max speed to 2 revs per second
+const int maxAccel = 8 * 200; //Max acceleration to 8 revs per second
+
+bool motor1_clockwiseRotation = true;
+bool motor2_clockwiseRotation = true;
+
+void setup() {
+  motor1.begin(bay1); // Module is inserted into bay1 (chip select D5)
+  motor2.begin(bay2); // Module is inserted into bay2 (chip select D6)
+
+  // Motor1 Setup
+  motor1.setMaxSpeed(maxSpeed); //Set speed to 2 revolutions per second.
+  motor1.setAcceleration(maxAccel); // set acceleration to 4 revolutions per second per second.
+  motor1.setCurrent(motorRatedCurrent,runCurrent,idleCurrent); //Set the currents of the motor
+  motor1.setCurrentPosition(0); // reset the current position to 0.
+
+  // Motor2 Setup
+  motor2.setMaxSpeed(maxSpeed); //Set speed to 2 revolutions per second.
+  motor2.setAcceleration(maxAccel); // set acceleration to 4 revolutions per second per second.
+  motor2.setCurrent(motorRatedCurrent,runCurrent,idleCurrent); //Set the currents of the motor
+  motor2.setCurrentPosition(0); // reset the current position to 0.
+}
+
+void loop() {
+  // Check if motor1 has finished traveling to the target position.
+  if (motor1.isTargetPositionReached()) {
+    if (clockwiseRotation) {
+      motor1.setTargetPosition(200); //start the move clockwise position
+      clockwiseRotation = false;
+    } else {
+      motor1.setTargetPosition(-200); //start the move to counter-clockwise position
+      clockwiseRotation = true;
+    }
+  }
+  // Check if motor2 has finished traveling to the target position.
+  if (motor2.isTargetPositionReached()) {
+    if (clockwiseRotation) {
+      motor2.setTargetPosition(300); //start the move clockwise position
+      clockwiseRotation = false;
+    } else {
+      motor2.setTargetPosition(-300); //start the move to counter-clockwise position
+      clockwiseRotation = true;
+    }
+  }
+}