MiniR4MxCtrlExt.h

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#ifndef _MiniR4MxCtrlExt_H_
#define _MiniR4MxCtrlExt_H_
 
#include <Arduino.h>
#include <Wire.h>
 
#ifndef ADDR_PCA954X
#    define ADDR_PCA954X 0x70
#endif
 
#define MatrixCtrl_ADDR     0x08
 
#define MC_REG_STATUS       0x41
#define MC_REG_TIMEOUT      0x42
#define MC_REG_BATTERY      0x43
#define MC_REG_STARTFLAG    0x44
 
#define MC_REG_SERVO_ENABLE 0x45    
#define MC_REG_SERVO_SPEED  0x46
#define MC_REG_SERVO_TARGET 0x47
 
#define MC_REG_SERVO_OFFSET 2
 
#define MC_REG_MOTOR_POS    0x4E    
#define MC_REG_MOTOR_TARGET 0x52    
#define MC_REG_MOTOR_SPEED  0x56
#define MC_REG_MOTOR_MODE   0x57
 
#define MC_REG_MOTOR_OFFSET 10
 
#define MODE_BRAKE          1
#define MODE_POSITION       0
 
class MatrixController{
    private:
        uint8_t _ver=1;
        uint8_t _invert1, _invert2, _invert3, _invert4;
        void motorMode(uint8_t motor, uint8_t mode);
        uint32_t motorPosition(uint8_t);
 
        void i2cMUXSelect();
        void i2cWriteData(uint8_t reg, uint8_t data);
        uint32_t i2cReadData(int reg, int num);
 
    public: 
        uint8_t _ch=0;
        TwoWire* _pWire;
 
        void begin();
 
        void motorSet(uint8_t motor_ch, uint8_t speed);
 
        void motorRound(uint8_t motor_ch, float round);
 
        void motorInvert(uint8_t motor_ch, bool invert);
 
        void servoSet(uint8_t servo_ch, uint8_t angle);
 
        float getBattery();
};
 
#endif