library created

src/I2CMotor.cpp

@@ -0,0 +1,101 @@
+#include "I2CMotor.h"
+
+I2CMotor::I2CMotor(uint8_t sda, uint8_t scl, uint32_t freq)
+    : sda_(sda), scl_(scl), freq_(freq), slave_addr_(0) {}
+
+void I2CMotor::begin() {
+    Wire.begin(sda_, scl_, freq_);
+    slave_addr_ = scanForMotorController();
+}
+
+bool I2CMotor::found() { return slave_addr_ != 0; }
+uint8_t I2CMotor::address() { return slave_addr_; }
+
+String I2CMotor::identify() {
+    return queryIdentification(slave_addr_);
+}
+
+void I2CMotor::setDeviceName(const char* newname) {
+    uint8_t len = strlen(newname);
+    Wire.beginTransmission(slave_addr_);
+    Wire.write(0x06);
+    Wire.write(len);
+    Wire.write((const uint8_t*)newname, len);
+    Wire.endTransmission();
+}
+
+void I2CMotor::setMinMax(uint8_t min_pwm, uint8_t max_pwm) {
+    Wire.beginTransmission(slave_addr_);
+    Wire.write(0x07);
+    Wire.write(min_pwm);
+    Wire.write(max_pwm);
+    Wire.endTransmission();
+}
+
+void I2CMotor::setMotorDirection(uint8_t motor, uint8_t dir) {
+    Wire.beginTransmission(slave_addr_);
+    Wire.write(0x03);
+    Wire.write(motor);
+    Wire.write(dir);
+    Wire.endTransmission();
+}
+
+void I2CMotor::setMotorSpeed(uint8_t motor, uint8_t speed_percent) {
+    Wire.beginTransmission(slave_addr_);
+    Wire.write(0x02);
+    Wire.write(motor);
+    Wire.write(speed_percent);
+    Wire.endTransmission();
+}
+
+void I2CMotor::emergencyStop() {
+    Wire.beginTransmission(slave_addr_);
+    Wire.write(0x05);
+    Wire.endTransmission();
+}
+
+uint8_t I2CMotor::scanForMotorController() {
+    for (uint8_t addr = 1; addr < 127; addr++) {
+        Wire.beginTransmission(addr);
+        Wire.write('i');
+        if (Wire.endTransmission() == 0) {
+            Wire.requestFrom(addr, 48);
+            String id;
+            while (Wire.available()) {
+                char c = Wire.read();
+                if (c == '\0') break;
+                id += c;
+            }
+            if (id.length() && id.indexOf("dc motor") >= 0) {
+                Serial.print("Found motor controller at 0x");
+                Serial.print(addr, HEX);
+                Serial.print(": ");
+                Serial.println(id);
+                return addr;
+            }
+        }
+        delay(5);
+    }
+    Serial.println("Motor controller not found!");
+    return 0;
+}
+
+String I2CMotor::queryIdentification(uint8_t addr) {
+    Wire.beginTransmission(addr);
+    Wire.write('i');
+    Wire.endTransmission();
+    delay(10);
+    Wire.requestFrom(addr, 48);
+    String response;
+    while (Wire.available()) {
+        char c = Wire.read();
+        if (c == '\0') break;
+        response += c;
+    }
+    Serial.print("Identification at 0x");
+    Serial.print(addr, HEX);
+    Serial.print(": ");
+    Serial.println(response);
+    return response;
+}
+    

src/I2CMotor.h

@@ -0,0 +1,30 @@
+#ifndef I2C_MOTOR_H
+#define I2C_MOTOR_H
+
+#include <Arduino.h>
+#include <Wire.h>
+
+class I2CMotor {
+public:
+    I2CMotor(uint8_t sda = 8, uint8_t scl = 9, uint32_t freq = 100000);
+
+    void begin();
+    bool found();
+    uint8_t address();
+    String identify();
+    void setDeviceName(const char* newname);
+    void setMinMax(uint8_t min_pwm, uint8_t max_pwm);
+    void setMotorDirection(uint8_t motor, uint8_t dir);
+    void setMotorSpeed(uint8_t motor, uint8_t speed_percent);
+    void emergencyStop();
+
+private:
+    uint8_t sda_, scl_;
+    uint32_t freq_;
+    uint8_t slave_addr_;
+
+    uint8_t scanForMotorController();
+    String queryIdentification(uint8_t addr);
+};
+
+#endif