Initial commit

Author: CodingArray

.github/workflows/arduino_ci.yml

@@ -0,0 +1,19 @@
+name: Arduino_CI  # 워크플로우의 이름 설정
+
+on: [pull_request]  # 워크플로우를 실행할 이벤트 설정 (pull request가 열릴 때 실행)
+
+jobs:
+  arduino_ci:
+    runs-on: ubuntu-latest  # 워크플로우가 실행될 환경 설정 (Ubuntu 최신 버전 사용)
+
+    steps:
+      - uses: actions/checkout@v3  # GitHub Actions를 사용하여 코드를 체크아웃하는 단계 추가
+
+      - uses: Arduino-CI/action@stable-1.x  # Arduino CI 액션 사용
+        env:
+          USE_SUBDIR: .  # 라이브러리의 경로 설정 (기본값은 현재 디렉토리)
+          EXPECT_EXAMPLES: false  # 예제 코드가 없는 경우 테스트를 실패로 처리할지 여부 설정
+          EXPECT_UNITTESTS: false  # 유닛 테스트가 없는 경우 테스트를 실패로 처리할지 여부 설정
+          # 커스텀 라이브러리 설치 스크립트가 필요한 경우, 스크립트 파일의 경로 설정
+          # 이 스크립트는 Arduino 라이브러리 디렉토리에서 실행됩니다.
+          # CUSTOM_INIT_SCRIPT: install_dependencies.sh

LICENSE

@@ -1,6 +1,55 @@
-MIT License
+CA_MotorShield Library Copyright Notice:
+
+Copyright (c) [2024], CodingArray / hanol JU. All rights reserved. 
+This library is based on the Adafruit_MotorShield v2 library from Adafruit Industries 
+and the PCA9685_RT library from Rob Tillaart, integrating the strengths of both libraries 
+to address issues arising during DC motor operation with I2C communication errors and 
+when changing the motor's rotation direction encountered with the Adafruit_MotorShield v2 library. 
+Such issues were particularly evident in the 'void Adafruit_MotorShield::setPin(uint8_t pin, boolean value)' 
+function, where setting multiple pins to HIGH or LOW caused problems. 
+This library is distributed under the MIT license. 
+Use, modification, and redistribution must follow the conditions below: 
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, 
+AND NONINFRINGEMENT. 
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES, 
+OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 
+The Adafruit_MotorShield v2 library is distributed under the BSD license, 
+and the PCA9685_RT library is distributed under the MIT license. 
+Users are considered to have agreed to these license conditions by using these libraries.
+
+
+Adafruit_MotorShield v2 Copyright Notice:
+Software License Agreement (BSD License)
+Copyright (c) 2012, Adafruit Industries.  All rights reserved.
 
-Copyright (c) 2024 CodingArray
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright
+notice, this list of conditions and the following disclaimer in the
+documentation and/or other materials provided with the distribution.
+3. Neither the name of the copyright holders nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+PCA9685_RT Copyright Notice:
+MIT License
+Copyright (c) 2016-2024 Rob Tillaart
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -1,2 +1,37 @@
-# CA_MotorShield_V1_Library
-Advanced Arduino library for Coding Array Motor Shield V1 supports 4 DC or 2 stepper motors, removing Adafruit dependencies. Includes microstepping, stacking, and PCA9685_RT for precise PWM control. Addresses motor direction and I2C communication issues. Compatible with Adafruit Motor Shield V2 clones. MIT and BSD licensed.
+[![Build Status](https://github.com/codingarray/CA_MotorShield_V1_Library/workflows/Arduino%20Library%20CI/badge.svg)](https://github.com/codingarray/CA_MotorShield_V1_Library/actions)
+[![License: MIT and BSD](https://img.shields.io/badge/license-MIT%20and%20BSD-green.svg)](https://github.com/codingarray/CA_MotorShield_V1_Library/blob/master/LICENSE)
+
+# Coding Array Motor Shield V1 Library
+
+![Coding Array Motor Shield V1](./images/CA_MotorShield_V1.jpg)
+
+## Overview
+
+The `Coding Array Motor Shield V1 Library` is based on the Adafruit Motor Shield V2, but it has been developed with the removal of dependencies on Adafruit's `Adafruit_MS_PWMServoDriver` and `Adafruit_I2CDevice`. This library supports the control of up to four DC motors or two stepper motors, excluding servo motors. It offers microstepping and stacking capabilities for DC and stepper motors, allowing for flexible application across various motor control projects.
+
+Incorporating the `PCA9685_RT` library (by RobTillaart, version 0.7.1), it supports the PCA9685 I2C LED driver and 16-channel PWM with 12-bit resolution. This integration allows for the 16 channels to be independently configured in 1/4096 steps, enabling fine-tuning of the PWM signal's duty cycle to better than 0.1%. The PWM channels can be individually started and stopped, optimizing power distribution across multiple servos or creating special effects with RGB LEDs.
+
+## Development Background
+
+The `Coding Array Motor Shield V1 Library` is grounded on the `Adafruit_MotorShield v2` library from Adafruit Industries and the `PCA9685_RT` library from Rob Tillaart. It was developed to address issues encountered during DC motor operation related to I2C communication errors and changing motor rotation direction with the Adafruit_MotorShield v2 library. Such issues were particularly apparent in the `void Adafruit_MotorShield::setPin(uint8_t pin, boolean value)` function, where setting multiple pins to HIGH or LOW posed problems.
+
+## Compatible Products
+
+### Coding Array Motor Shield V1
+url : http://www.codingarray.net
+
+The Coding Array I2C Motor Driver Shield, a clone of the Adafruit Motor Shield V2, is specifically designed to offer a more user-friendly interface and facilitate easier wiring for enthusiasts and professionals alike. This enhancement ensures a smoother integration into projects, making it an ideal choice for those seeking convenience without compromising on functionality.
+
+### Adafruit Motor/Stepper/Servo Shield for Arduino v2 Kit - v2.3
+url : https://www.adafruit.com/product/1438
+
+The original Adafruit Motorshield kit is one of our most beloved kits, which is why we decided to make something even better. We have upgraded the shield kit to make the bestest, easiest way to drive DC and Stepper motors. This shield will make quick work of your next robotics project! We kept the ability to drive up to 4 DC motors or 2 stepper motors, but added many improvements:
+
+## Related Links
+
+- Adafruit Motor Shield V2 Library: https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library
+- PCA9685_RT Library by RobTillaart: https://github.com/RobTillaart/PCA9685_RT
+
+## License
+
+This library was written by hanol JU for codingarray. It is licensed under both the BSD License and the MIT License; see the license.txt file for more information. All text above must be included in any redistribution.

examples/Accel_ConstantSpeed/Accel_ConstantSpeed.ino

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+/*!
+ * @file ConstantSpeed.ino
+ *
+ * @mainpage Example code for CA MotorShield Library.
+ *
+ * @section intro_sec Introduction
+ *
+ * This example shows how to control a stepper motor using the CA_MotorShield library,
+ * demonstrating the simplest, fixed speed mode with no accelerations.
+ * It is designed for the CA MotorShield, which is an enhancement over the Adafruit Motor Shield V2,
+ * integrating features for improved motor control.
+ *
+ * Developed by CodingArray / hanol JU, based on the original work by
+ * Limor Fried/Ladyada for Adafruit Industries and enhancements from Rob Tillaart's PCA9685_RT library.
+ *
+ * This library is released under the MIT license.
+ * Please support CA MotorShield and open-source hardware by purchasing
+ * products from CodingArray / www.codingarray.net.
+ *
+ * @section license License
+ *
+ * MIT License - all text here must be included in any redistribution.
+ *
+ */
+
+#include <CA_MotorShield.h>
+
+// Create the motor shield object with the default I2C address
+CA_MotorShield STEP_Motor(0x60); // Adjust the I2C address as needed
+
+// Connect a stepper motor with 200 steps per revolution (1.8 degree)
+// to motor port #1 and #2 respectively
+CA_StepperMotor *StepMotor1 = STEP_Motor.getStepper(200, 1);
+
+void forwardStep() {
+  StepMotor1->onestep(FORWARD, SINGLE);
+}
+void backwardStep() {
+  StepMotor1->onestep(BACKWARD, SINGLE);
+}
+
+// Use functions to step
+CA_Stepper Astepper1 = CA_Stepper(forwardStep, backwardStep);
+
+void setup() {
+  Serial.begin(115200); // set up Serial library at 115200 bps
+  Serial.println("Stepper test!");
+
+  STEP_Motor.begin(); // Initialize the motor shield
+  STEP_Motor.setFrequency(1600); // Set PWM frequency for stepper motor
+
+  Astepper1.setSpeed(150); // Set the speed of the stepper motor
+}
+
+void loop() {
+  Astepper1.runSpeed(); // Continuously run the stepper motor at the set speed
+}

examples/Accel_MultiStepper/Accel_MultiStepper.ino

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+/*!
+ * @file MultipleSteppers.ino
+ *
+ * @mainpage Example code for running multiple steppers with CA MotorShield Library.
+ *
+ * @section intro_sec Introduction
+ *
+ * This example demonstrates how to control three stepper motors at once with
+ * varying speeds using the CA_MotorShield library, an enhancement over the
+ * Adafruit Motor Shield V2 library, incorporating features for improved motor control.
+ *
+ * Developed by CodingArray / hanol JU, building upon the original work by
+ * Limor Fried/Ladyada for Adafruit Industries and Rob Tillaart's PCA9685_RT library contributions.
+ *
+ * This library and example are released under the MIT license.
+ * Support open-source hardware by purchasing products from your preferred suppliers.
+ *
+ * @section license License
+ *
+ * MIT License - all text here must be included in any redistribution.
+ *
+ */
+
+#include <CA_MotorShield.h>
+
+// Initialize CA_MotorShield objects for two shields
+CA_MotorShield AFMSbot(0x61); // Rightmost jumper closed
+CA_MotorShield AFMStop(0x60); // Default address, no jumpers
+
+// Connect two steppers to the top shield
+CA_StepperMotor *myStepper1 = AFMStop.getStepper(200, 1);
+CA_StepperMotor *myStepper2 = AFMStop.getStepper(200, 2);
+
+// Connect one stepper to the bottom shield
+CA_StepperMotor *myStepper3 = AFMSbot.getStepper(200, 2);
+
+// Function wrappers for each motor
+void forwardStep1() { myStepper1->onestep(FORWARD, SINGLE); }
+void backwardStep1() { myStepper1->onestep(BACKWARD, SINGLE); }
+void forwardStep2() { myStepper2->onestep(FORWARD, DOUBLE); }
+void backwardStep2() { myStepper2->onestep(BACKWARD, DOUBLE); }
+void forwardStep3() { myStepper3->onestep(FORWARD, INTERLEAVE); }
+void backwardStep3() { myStepper3->onestep(BACKWARD, INTERLEAVE); }
+
+// Wrap the steppers in CA_Stepper objects
+CA_Stepper stepper1(forwardStep1, backwardStep1);
+CA_Stepper stepper2(forwardStep2, backwardStep2);
+CA_Stepper stepper3(forwardStep3, backwardStep3);
+
+void setup() {
+  AFMSbot.begin(); // Start the bottom shield
+  AFMStop.begin(); // Start the top shield
+
+  // Set speed and acceleration for each stepper
+  stepper1.setMaxSpeed(100.0);
+  stepper1.setAcceleration(100.0);
+  stepper1.moveTo(24);
+
+  stepper2.setMaxSpeed(200.0);
+  stepper2.setAcceleration(100.0);
+  stepper2.moveTo(50000);
+
+  stepper3.setMaxSpeed(300.0);
+  stepper3.setAcceleration(100.0);
+  stepper3.moveTo(1000000);
+}
+
+void loop() {
+  // Change direction at the limits
+  if (stepper1.distanceToGo() == 0) stepper1.moveTo(-stepper1.currentPosition());
+  if (stepper2.distanceToGo() == 0) stepper2.moveTo(-stepper2.currentPosition());
+  if (stepper3.distanceToGo() == 0) stepper3.moveTo(-stepper3.currentPosition());
+
+  // Run each stepper
+  stepper1.run();
+  stepper2.run();
+  stepper3.run();
+}

examples/DCMotorTest/DCMotorTest.ino

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+/*
+  This is a test sketch for the CA MotorShield library designed to demonstrate controlling DC motors.
+  It showcases the capabilities of the CA MotorShield for enhanced control of DC motors.
+
+  For use with the CA MotorShield
+  ----> Replace "http://www.yourwebsite.com/products/1234" with the actual product page link to direct users to more information about the motor shield.
+
+  Developed by CodingArray / hanol JU, leveraging the foundational work of Limor Fried/Ladyada for Adafruit Industries and the PCA9685_RT library enhancements by Rob Tillaart.
+*/
+
+#include <CA_MotorShield.h>
+
+CA_MotorShield DC_Motor(0x60); // Create an object and pass the parameter
+
+CA_DCMotor *motor1 = DC_Motor.getMotor(1); // Get motor 1
+CA_DCMotor *motor2 = DC_Motor.getMotor(2); // Get motor 2
+CA_DCMotor *motor3 = DC_Motor.getMotor(3); // Get motor 3
+CA_DCMotor *motor4 = DC_Motor.getMotor(4); // Get motor 4
+
+void setup() {
+  Serial.begin(115200);
+
+  DC_Motor.begin(); // Initialize the motor shield
+  DC_Motor.setFrequency(1600); // Set the PWM frequency
+
+  // Set motor1 to move forward and set its speed
+  motor1->setSpeed(150);
+  motor1->run(FORWARD);
+
+  // Set motor2 to move forward and set its speed
+  motor2->setSpeed(150);
+  motor2->run(FORWARD);
+
+  // Set motor3 to move forward and set its speed
+  motor3->setSpeed(150);
+  motor3->run(FORWARD);
+
+  // Set motor4 to move forward and set its speed
+  motor4->setSpeed(150);
+  motor4->run(FORWARD);
+
+  delay(500); // Wait for 500 milliseconds
+
+  // Set motor1 to move backward and set its speed
+  motor1->setSpeed(150);
+  motor1->run(BACKWARD);
+
+  // Set motor2 to move backward and set its speed
+  motor2->setSpeed(150);
+  motor2->run(BACKWARD);
+
+  // Set motor3 to move backward and set its speed
+  motor3->setSpeed(150);
+  motor3->run(BACKWARD);
+
+  // Set motor4 to move backward and set its speed
+  motor4->setSpeed(150);
+  motor4->run(BACKWARD);
+
+  delay(500); // Wait for 500 milliseconds
+
+  // Reset all channels to their initial state
+  DC_Motor.allChannelInitialize();
+}
+
+void loop() {
+  // Write code to repeat here
+}