Added support for the ADC converter.

src/bioloid_robot.cpp

@@ -197,6 +197,63 @@ bool CBioloidRobot::is_button_pressed(pushbutton_t pushbutton)
     return false;
 }
 
+// ADC interface
+void CBioloidRobot::adc_enable(void)
+{
+
+}
+
+void CBioloidRobot::adc_set_period(unsigned char perios_ms)
+{
+
+}
+
+double CBioloidRobot::adc_get_value(adc_t adc)
+{
+  unsigned short int value;
+
+  switch(adc)
+  {
+    case ADC_CH1: this->robot_device->read_word_register(BIOLOID_ADC_CH1_L,&value);
+                  break;
+    case ADC_CH2: this->robot_device->read_word_register(BIOLOID_ADC_CH2_L,&value);
+                  break;
+    case ADC_CH3: this->robot_device->read_word_register(BIOLOID_ADC_CH3_L,&value);
+                  break;
+    case ADC_CH4: this->robot_device->read_word_register(BIOLOID_ADC_CH4_L,&value);
+                  break;
+    case ADC_CH5: this->robot_device->read_word_register(BIOLOID_ADC_CH6_L,&value);
+                  break;
+    case ADC_CH6: this->robot_device->read_word_register(BIOLOID_ADC_CH8_L,&value);
+                  break;
+  }
+ 
+  return ((double)value)/((double)(1<<12));
+}
+
+double CBioloidRobot::adc_get_temperature(void)
+{
+  unsigned short int value;
+
+  this->robot_device->read_word_register(BIOLOID_ADC_TEMP_L,&value);
+
+  return ((double)value)/((double)(1<<10));
+}
+
+double CBioloidRobot::adc_get_vrefint(void)
+{
+  unsigned short int value;
+
+  this->robot_device->read_word_register(BIOLOID_ADC_VREF_L,&value);
+
+  return ((double)value)/((double)(1<<12));
+}
+
+void CBioloidRobot::adc_disable(void)
+{
+
+}
+
 // motion manager interface
 /*void CBioloidRobot::mm_set_period(double period_ms)
 {

src/bioloid_robot.h

@@ -16,6 +16,8 @@ typedef enum {BIOLOD_MM_NONE=0x00,BIOLOID_MM_ACTION=0x01,BIOLOID_MM_WALKING=0x02
 typedef enum {USER1_LED,USER2_LED,RXD_LED,TXD_LED} led_t;
 /* available pushbuttons */
 typedef enum {USER_PB,RESET_PB,START_PB,MODE_PB} pushbutton_t;
+/* available ADC channels */
+typedef enum {ADC_CH1, ADC_CH2, ADC_CH3, ADC_CH4, ADC_CH5, ADC_CH6} adc_t;
 
 class CBioloidRobot
 {
@@ -109,6 +111,13 @@ class CBioloidRobot
                        break;
       }
     }
+    // ADC interface
+    void adc_enable(void);
+    void adc_set_period(unsigned char perios_ms);
+    double adc_get_value(adc_t adc);
+    double adc_get_temperature(void);
+    double adc_get_vrefint(void);
+    void adc_disable(void);
     // motion manager interface
 /*    void mm_set_period(double period_ms);
     unsigned char mm_get_num_servos(void);

src/examples/bioloid_robot_test.cpp

@@ -35,7 +35,7 @@ int main(int argc, char *argv[])
 
   try{
     CBioloidRobot tina("Tina",robot_device,921600,0x02,GPIO2,25);
-    tina.assign_button_callback(USER_PB,&callbacks,&CCallbacks::user_pb_callback);
+/*    tina.assign_button_callback(USER_PB,&callbacks,&CCallbacks::user_pb_callback);
     tina.assign_button_callback(RESET_PB,&callbacks,&CCallbacks::reset_pb_callback);
     tina.assign_button_callback(START_PB,&callbacks,&CCallbacks::start_pb_callback);
     tina.assign_button_callback(MODE_PB,&callbacks,&CCallbacks::mode_pb_callback);
@@ -62,22 +62,19 @@ int main(int argc, char *argv[])
     tina.clear_led(TXD_LED);
     tina.clear_led(USER1_LED);
     tina.clear_led(USER2_LED);
-    sleep(10);
-/*    for(i=0;i<100;i++)
+    sleep(10);*/
+    for(i=0;i<100;i++)
     {
-      if(tina.is_button_pressed(RESET_PB))
-        std::cout << "Reset button pressed" << std::endl;
-      else
-        std::cout << "Reset button not pressed" << std::endl;
+      std::cout << "temperature: " << tina.adc_get_temperature() << std::endl;
+      std::cout << "Vref_int: " << tina.adc_get_vrefint() << std::endl;
+      std::cout << "Channel 1: " << tina.adc_get_value(ADC_CH1) << std::endl;
+      std::cout << "Channel 2: " << tina.adc_get_value(ADC_CH2) << std::endl;
+      std::cout << "Channel 3: " << tina.adc_get_value(ADC_CH3) << std::endl;
+      std::cout << "Channel 4: " << tina.adc_get_value(ADC_CH4) << std::endl;
+      std::cout << "Channel 5: " << tina.adc_get_value(ADC_CH5) << std::endl;
+      std::cout << "Channel 6: " << tina.adc_get_value(ADC_CH6) << std::endl;
       usleep(100000);
-    }*/
-//    tina.clear_led(USER1_LED);
-/*    for(i=0;i<10;i++)
-    {
-      std::cout << "toggle led" << std::endl;
-      tina.toggle_led(USER1_LED);
-      sleep(1);
-    }*/
+    }
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }