From d072e758c0136f07df451d95730436145d11ddc8 Mon Sep 17 00:00:00 2001
From: Brendan Stennett <brendan@thinkdataworks.com>
Date: Wed, 12 Sep 2018 23:46:59 -0400
Subject: [PATCH] =?UTF-8?q?Add=20SparkFun=E2=80=99s=20EasyDriver=20(and=20?=
 =?UTF-8?q?BigEasyDriver)?=
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Signed-off-by: Brendan Stennett <brendan@thinkdataworks.com>
---
 README.md                        |   1 +
 drivers/gpio/easy_driver.go      | 281 +++++++++++++++++++++++++++++++
 drivers/gpio/easy_driver_test.go | 138 +++++++++++++++
 3 files changed, 420 insertions(+)
 create mode 100644 drivers/gpio/easy_driver.go
 create mode 100644 drivers/gpio/easy_driver_test.go

diff --git a/README.md b/README.md
index c7b580df..6f14e6b2 100644
--- a/README.md
+++ b/README.md
@@ -231,6 +231,7 @@ a shared set of drivers provided using the `gobot/drivers/gpio` package:
 	- Button
 	- Buzzer
 	- Direct Pin
+	- EasyDriver
 	- Grove Button
 	- Grove Buzzer
 	- Grove LED
diff --git a/drivers/gpio/easy_driver.go b/drivers/gpio/easy_driver.go
new file mode 100644
index 00000000..e77ec37a
--- /dev/null
+++ b/drivers/gpio/easy_driver.go
@@ -0,0 +1,281 @@
+package gpio
+
+import (
+	"errors"
+	"strconv"
+	"time"
+
+	"gobot.io/x/gobot"
+)
+
+// EasyDriver object
+type EasyDriver struct {
+	gobot.Commander
+
+	name       string
+	connection DigitalWriter
+	stepPin    string
+	dirPin     string
+	enPin      string
+	sleepPin   string
+
+	angle    float32
+	rpm      uint
+	dir      int8
+	moving   bool
+	stepNum  int
+	enabled  bool
+	sleeping bool
+}
+
+// NewEasyDriver returns a new EasyDriver from SparkFun (https://www.sparkfun.com/products/12779)
+// TODO: Support selecting phase input instead of hard-wiring MS1 and MS2 to board truth table
+// This should also work for the BigEasyDriver (untested)
+// A - DigitalWriter
+// stepPin - Pin corresponding to step input on EasyDriver
+// dirPin - Pin corresponding to dir input on EasyDriver.  Optional
+// enPin - Pin corresponding to enabled input on EasyDriver.  Optional
+// sleepPin - Pin corresponding to sleep input on EasyDriver.  Optional
+// angle - Step angle of motor
+func NewEasyDriver(a DigitalWriter, angle float32, stepPin string, dirPin string, enPin string, sleepPin string) *EasyDriver {
+	d := &EasyDriver{
+		Commander:  gobot.NewCommander(),
+		name:       gobot.DefaultName("EasyDriver"),
+		connection: a,
+		stepPin:    stepPin,
+		dirPin:     dirPin,
+		enPin:      enPin,
+		sleepPin:   sleepPin,
+
+		angle:    angle,
+		rpm:      1,
+		dir:      1,
+		enabled:  true,
+		sleeping: false,
+	}
+
+	// panic if step pin isn't set
+	if stepPin == "" {
+		panic("Step pin is not set")
+	}
+
+	// 1/4 of max speed.  Not too fast, not too slow
+	d.rpm = d.GetMaxSpeed() / 4
+
+	d.AddCommand("Move", func(params map[string]interface{}) interface{} {
+		degs, _ := strconv.Atoi(params["degs"].(string))
+		return d.Move(degs)
+	})
+	d.AddCommand("Step", func(params map[string]interface{}) interface{} {
+		return d.Step()
+	})
+	d.AddCommand("Run", func(params map[string]interface{}) interface{} {
+		return d.Run()
+	})
+	d.AddCommand("Stop", func(params map[string]interface{}) interface{} {
+		return d.Stop()
+	})
+
+	return d
+}
+
+// Name of EasyDriver
+func (d *EasyDriver) Name() string { return d.name }
+
+// SetName sets name for EasyDriver
+func (d *EasyDriver) SetName(n string) { d.name = n }
+
+// Connection returns EasyDriver's connection
+func (d *EasyDriver) Connection() gobot.Connection { return d.connection.(gobot.Connection) }
+
+// Start implements the Driver interface
+func (d *EasyDriver) Start() (err error) { return }
+
+// Halt implements the Driver interface; stops running the stepper
+func (d *EasyDriver) Halt() (err error) {
+	d.Stop()
+	return
+}
+
+// Move the motor given number of degrees at current speed.
+func (d *EasyDriver) Move(degs int) (err error) {
+	if d.moving {
+		// don't do anything if already moving
+		return
+	}
+
+	d.moving = true
+
+	steps := int(float32(degs) / d.angle)
+	for i := 0; i < steps; i++ {
+		if !d.moving {
+			// don't continue to step if driver is stopped
+			break
+		}
+
+		d.Step()
+	}
+
+	d.moving = false
+
+	return
+}
+
+// Step the stepper 1 step
+func (d *EasyDriver) Step() (err error) {
+	stepsPerRev := d.GetMaxSpeed()
+
+	// a valid steps occurs for a low to high transition
+	d.connection.DigitalWrite(d.stepPin, 0)
+	// 1 minute / steps per revolution / revolutions per minute
+	// let's keep it as Microseconds so we only have to do integer math
+	time.Sleep(time.Duration(60*1000*1000/stepsPerRev/d.rpm) * time.Microsecond)
+	d.connection.DigitalWrite(d.stepPin, 1)
+
+	// increment or decrement the number of steps by 1
+	d.stepNum += int(d.dir)
+
+	return
+}
+
+// Run the stepper continuously
+func (d *EasyDriver) Run() (err error) {
+	if d.moving {
+		// don't do anything if already moving
+		return
+	}
+
+	d.moving = true
+
+	go func() {
+		for d.moving {
+			d.Step()
+		}
+	}()
+
+	return
+}
+
+// Stop running the stepper
+func (d *EasyDriver) Stop() (err error) {
+	d.moving = false
+	return
+}
+
+// SetDirection sets the direction to be moving.  Valid directions are "cw" or "ccw"
+func (d *EasyDriver) SetDirection(dir string) (err error) {
+	// can't change direct if dirPin isn't set
+	if d.dirPin == "" {
+		return errors.New("dirPin is not set")
+	}
+
+	if dir == "ccw" {
+		d.dir = -1
+		d.connection.DigitalWrite(d.dirPin, 1) // high is ccw
+	} else { // default to cw, even if user specified wrong value
+		d.dir = 1
+		d.connection.DigitalWrite(d.dirPin, 0) // low is cw
+	}
+
+	return
+}
+
+// SetSpeed sets the speed of the motor in RPMs.  1 is the lowest and GetMaxSpeed is the highest
+func (d *EasyDriver) SetSpeed(rpm uint) (err error) {
+	if rpm < 1 {
+		d.rpm = 1
+	} else if rpm > d.GetMaxSpeed() {
+		d.rpm = d.GetMaxSpeed()
+	} else {
+		d.rpm = rpm
+	}
+
+	return
+}
+
+// GetMaxSpeed returns the max speed of the stepper
+func (d *EasyDriver) GetMaxSpeed() uint {
+	return uint(360 / d.angle)
+}
+
+// GetCurrentStep returns current step number
+func (d *EasyDriver) GetCurrentStep() int {
+	return d.stepNum
+}
+
+// IsMoving returns a bool stating whether motor is currently in motion
+func (d *EasyDriver) IsMoving() bool {
+	return d.moving
+}
+
+// Enable enables all motor output
+func (d *EasyDriver) Enable() (err error) {
+	// can't enable if enPin isn't set.  This is fine normally since it will be enabled by default
+	if d.enPin == "" {
+		return errors.New("enPin is not set.  Board is enabled by default")
+	}
+
+	d.enabled = true
+	d.connection.DigitalWrite(d.enPin, 0) // enPin is active low
+
+	return
+}
+
+// Disable disables all motor output
+func (d *EasyDriver) Disable() (err error) {
+	// can't disable if enPin isn't set
+	if d.enPin == "" {
+		return errors.New("enPin is not set")
+	}
+
+	// let's stop the motor first
+	d.Stop()
+
+	d.enabled = false
+	d.connection.DigitalWrite(d.enPin, 1) // enPin is active low
+
+	return
+}
+
+// IsEnabled returns a bool stating whether motor is enabled
+func (d *EasyDriver) IsEnabled() bool {
+	return d.enabled
+}
+
+// Sleep puts the driver to sleep and disables all motor output.  Low power mode.
+func (d *EasyDriver) Sleep() (err error) {
+	// can't sleep if sleepPin isn't set
+	if d.sleepPin == "" {
+		return errors.New("sleepPin is not set")
+	}
+
+	// let's stop the motor first
+	d.Stop()
+
+	d.sleeping = true
+	d.connection.DigitalWrite(d.sleepPin, 0) // sleepPin is active low
+
+	return
+}
+
+// Wake wakes up the driver
+func (d *EasyDriver) Wake() (err error) {
+	// can't wake if sleepPin isn't set
+	if d.sleepPin == "" {
+		return errors.New("sleepPin is not set")
+	}
+
+	d.sleeping = false
+	d.connection.DigitalWrite(d.sleepPin, 1) // sleepPin is active low
+
+	// we need to wait 1ms after sleeping before doing a step to charge the step pump (according to data sheet)
+	// this will ensure that happens
+	time.Sleep(1 * time.Millisecond)
+
+	return
+}
+
+// IsSleeping returns a bool stating whether motor is enabled
+func (d *EasyDriver) IsSleeping() bool {
+	return d.sleeping
+}
diff --git a/drivers/gpio/easy_driver_test.go b/drivers/gpio/easy_driver_test.go
new file mode 100644
index 00000000..825c398e
--- /dev/null
+++ b/drivers/gpio/easy_driver_test.go
@@ -0,0 +1,138 @@
+package gpio
+
+import (
+	"gobot.io/x/gobot/gobottest"
+	"strings"
+	"testing"
+	"time"
+)
+
+const (
+	stepAngle   = 0.5 // use non int step angle to check int math
+	stepsPerRev = 720
+)
+
+func initEasyDriver() *EasyDriver {
+	return NewEasyDriver(newGpioTestAdaptor(), stepAngle, "1", "2", "3", "4")
+}
+
+func TestEasyDriverDefaultName(t *testing.T) {
+	d := initEasyDriver()
+	gobottest.Assert(t, strings.HasPrefix(d.Name(), "EasyDriver"), true)
+}
+
+func TestEasyDriverSetName(t *testing.T) {
+	d := initEasyDriver()
+	d.SetName("OtherDriver")
+	gobottest.Assert(t, strings.HasPrefix(d.Name(), "OtherDriver"), true)
+}
+
+func TestEasyDriverMove(t *testing.T) {
+	d := initEasyDriver()
+	d.Move(2)
+	time.Sleep(2 * time.Millisecond)
+	gobottest.Assert(t, d.GetCurrentStep(), 4)
+	gobottest.Assert(t, d.IsMoving(), false)
+}
+
+func TestEasyDriverRun(t *testing.T) {
+	d := initEasyDriver()
+	d.Run()
+	gobottest.Assert(t, d.IsMoving(), true)
+	d.Run()
+	gobottest.Assert(t, d.IsMoving(), true)
+}
+
+func TestEasyDriverStop(t *testing.T) {
+	d := initEasyDriver()
+	d.Run()
+	gobottest.Assert(t, d.IsMoving(), true)
+	d.Stop()
+	gobottest.Assert(t, d.IsMoving(), false)
+}
+
+func TestEasyDriverStep(t *testing.T) {
+	d := initEasyDriver()
+	d.Step()
+	gobottest.Assert(t, d.GetCurrentStep(), 1)
+	d.Step()
+	d.Step()
+	d.Step()
+	gobottest.Assert(t, d.GetCurrentStep(), 4)
+	d.SetDirection("ccw")
+	d.Step()
+	gobottest.Assert(t, d.GetCurrentStep(), 3)
+}
+
+func TestEasyDriverSetDirection(t *testing.T) {
+	d := initEasyDriver()
+	gobottest.Assert(t, d.dir, int8(1))
+	d.SetDirection("cw")
+	gobottest.Assert(t, d.dir, int8(1))
+	d.SetDirection("ccw")
+	gobottest.Assert(t, d.dir, int8(-1))
+	d.SetDirection("nothing")
+	gobottest.Assert(t, d.dir, int8(1))
+}
+
+func TestEasyDriverSetSpeed(t *testing.T) {
+	d := initEasyDriver()
+	gobottest.Assert(t, d.rpm, uint(stepsPerRev/4)) // default speed of 720/4
+	d.SetSpeed(0)
+	gobottest.Assert(t, d.rpm, uint(1))
+	d.SetSpeed(200)
+	gobottest.Assert(t, d.rpm, uint(200))
+	d.SetSpeed(1000)
+	gobottest.Assert(t, d.rpm, uint(stepsPerRev))
+}
+
+func TestEasyDriverGetMaxSpeed(t *testing.T) {
+	d := initEasyDriver()
+	gobottest.Assert(t, d.GetMaxSpeed(), uint(stepsPerRev))
+}
+
+func TestEasyDriverSleep(t *testing.T) {
+	// let's test basic functionality
+	d := initEasyDriver()
+	d.Sleep()
+	gobottest.Assert(t, d.IsSleeping(), true)
+
+	// let's make sure it stops first
+	d = initEasyDriver()
+	d.Run()
+	d.Sleep()
+	gobottest.Assert(t, d.IsSleeping(), true)
+	gobottest.Assert(t, d.IsMoving(), false)
+}
+
+func TestEasyDriverWake(t *testing.T) {
+	// let's test basic functionality
+	d := initEasyDriver()
+	d.Sleep()
+	gobottest.Assert(t, d.IsSleeping(), true)
+	d.Wake()
+	gobottest.Assert(t, d.IsSleeping(), false)
+}
+
+func TestEasyDriverDisable(t *testing.T) {
+	// let's test basic functionality
+	d := initEasyDriver()
+	d.Disable()
+	gobottest.Assert(t, d.IsEnabled(), false)
+
+	// let's make sure it stops first
+	d = initEasyDriver()
+	d.Run()
+	d.Disable()
+	gobottest.Assert(t, d.IsEnabled(), false)
+	gobottest.Assert(t, d.IsMoving(), false)
+}
+
+func TestEasyDriverEnable(t *testing.T) {
+	// let's test basic functionality
+	d := initEasyDriver()
+	d.Disable()
+	gobottest.Assert(t, d.IsEnabled(), false)
+	d.Enable()
+	gobottest.Assert(t, d.IsEnabled(), true)
+}
\ No newline at end of file