问题
This is my i2c sensor: http://www.mindsensors.com/rpi/76-smartdrive-high-current-motor-controller look in pdf in Documents sessions please
Based on this google guide https://developer.android.com/things/sdk/pio/pio-cli.html What I need to put in XX ZZ YY UU to run motors in determined speed, direction, duration, etc...
e.g.: pio i2c I2C1 0x1B write-reg-buffer 0xXX 0xYY 0xUU 0xZZ
As (in this case) I will use writeRegBuffer() on my android things app to run one, two or both motors in determined spped, direction, duration, etc?
e.g.: I used (via jcenter) this driver in intel edison/android things DP2, but now I want to create an AT driver to use smartdrive in nx pico and rpi 3, because there would be no more mraa:
https://github.com/androidthings/contrib-drivers/issues/70
My questions is: If you see here: https://github.com/intel-iot-devkit/upm/blob/master/src/smartdrive/smartdrive.hpp and especially in this: https://github.com/intel-iot-devkit/upm/blob/master/src/smartdrive/smartdrive.cxx in function
SmartDrive::Run_Seconds(int motor_id, int direction, uint8_t speed, uint8_t duration, bool wait_for_completion, int next_action )
you will see writeArray(array, sizeof(array));
ok. I need help to use this in android things using writeRegBuffer(int reg, byte[] buffer, int length) and write(byte[] buffer, int length)
回答1:
Per the PIO CLI tool doc you linked, the format of the i2c command is:
$ pio i2c <bus_name> <slave_address> <command> <reg> <val>
Your motor controller has a default slave address of 0x36 and uses registers. As an example you could write to the "Motor 1 Speed" register (address 0x46) using this tool like so:
$ pio i2c I2C1 0x36 write-reg-byte 0x46 <speed_value>
The same operation from code would look like the following:
PeripheralManagerService manager = new PeripheralManagerService();
I2cDevice device = manager.openI2cDevice("I2C1", 0x36);
device.writeRegByte(0x46, speed);
回答2:
run motor 1 in direction A pio i2c I2C1 0x1B write-raw 0x46 128 0x05 0x00 0xD1
run motor 1 in direction B pio i2c I2C1 0x1B write-raw 0x46 127 0x05 0x00 0xD1
run motor 2 in direction A pio i2c I2C1 0x1B write-raw 0x4E 128 0x05 0x00 0xD1
run motor 2 in direction B pio i2c I2C1 0x1B write-raw 0x4E 127 0x05 0x00 0xD1
来源：https://stackoverflow.com/questions/48368262/using-the-i2c-smartdrive-sensor-with-a-pio-cli-commands-to-run-motors