satakagi/i2c-PCA9685_PWM.js

## i2c-PCA9685_PWM.js
// サーボではなく、純粋にPWM出力装置としてPCA9685を使います
// based on http://www.geocities.jp/zattouka/GarageHouse/micon/Motor/PCA9685/shield1.htm
// Programmed by Satoru Takagi

var PCA9685_PWM = function(i2cPort,slaveAddress){
	this.i2cPort = i2cPort;
	this.i2cSlave = null;
	this.slaveAddress = slaveAddress;
	this.frequency=null;
};

PCA9685_PWM.prototype = {
	sleep: function(ms){
		return new Promise((resolve)=>{setTimeout(resolve,ms);});
	},
	init: async function(frequency,noSetZero){
		// frequency : in Hz
		// angleRange : -angleRange to +angleRange degrees


		if(this.frequency){
			console.log("alredy initialised");
		}
		if ( frequency ){
			this.frequency = frequency;
		} else {
			this.frequency = 60; // default: 60Hz
		}
		var freq = Math.floor((25000000/(4096*this.frequency))-1);

		if ( freq < 0x03 || freq > 0xff ){
			throw Error("Frequency should be between 24Hz to 1526Hz");
		}

		var i2cSlave = await this.i2cPort.open(this.slaveAddress);
		this.i2cSlave = i2cSlave;

		await this.i2cSlave.write8(0x00,0x00);
		await this.i2cSlave.write8(0x01,0x04);
		await this.i2cSlave.write8(0x00,0x10);
		await this.i2cSlave.write8(0xfe,freq);
		await this.i2cSlave.write8(0x00,0x00);
		await this.i2cSlave.write8(0x06,0x00);
		await this.i2cSlave.write8(0x07,0x00);
		await this.sleep(300);
		if ( !noSetZero ){
			for ( var pwmPort = 0 ; pwmPort < 16 ; pwmPort ++ ){
				await this.setPWM(pwmPort , 0 );
			}
		}
	},
	setPWM: async function(pwmPort,dutyRatio){
		// dutyRatio : 0.0(OFF) .. 1.0(ON)
		// console.log(pwmPort,angle)
		const portStart = 8;
		const portInterval = 4;
		if(this.i2cSlave == null){
			throw Error("i2cSlave Address does'nt yet open!");
		}
		if ( pwmPort < 0 || pwmPort > 15 ){
			throw Error("PWM Port should be between 0 to 15");
		}
		if ( dutyRatio < 0 || dutyRatio > 1 ){
			throw Error("dutyRatio should be between 0.0 to 1.0");
		}
		var ticks = Math.floor(4095 * dutyRatio);
		var tickH = (( ticks >> 8 ) & 0x0f);
		var tickL = (ticks & 0xff);

		var pwm = Math.round(portStart + pwmPort * portInterval);
		await this.i2cSlave.write8( pwm + 1, tickH);
		await this.i2cSlave.write8( pwm, tickL);
	}
};

## pwhb.html
<!DOCTYPE html>
<html>
<head>
  <meta charset="utf-8">
  <meta name="viewport" content="width=device-width">
  <title>GPIO-I2C-PWMHBridge</title>
</head>
<body>
<script src="../../../polyfill/polyfill.js"></script>
<script src="../../drivers/i2c-PCA9685_PWM.js"></script>
<script src="pwhb.js"></script>
<h1>GPIO H-Bridge Motor drive (with PWM)</h1>
<input type="button" onclick="free()" value="BRAKE"></input>
<input type="button" onclick="fwd()" value="FOWARD"></input>
<input type="button" onclick="rev()" value="REVERSE"></input>
<!-- <input type="button" onclick="brake()" value="BRAKE"></input> L298NではGPIO 0,0でもブレーキモードになるらしい -->
<br>
<input type="button" onclick="pwm(0)" value="0%(FREE)"></input> <!-- PWM 0%を指定することでフリーになるらしい -->
<input type="button" onclick="pwm(0.2)" value="20%"></input>
<input type="button" onclick="pwm(0.4)" value="40%"></input>
<input type="button" onclick="pwm(0.6)" value="60%"></input>
<input type="button" onclick="pwm(0.8)" value="80%"></input>
<input type="button" onclick="pwm(1.0)" value="100%"></input>


<div>
<img src="PWMHBridge.png" height="500">
</div>
</body>
</html>

## pwhb.js
// Hブリッジモータードライバは正転[1,0]・逆転[0,1]・ブレーキ[1,1]・フリー[0,0]の4状態を
// GPIOの２つの信号線を使って指示します
// さらにPCA9685のPWMをEnableラインに入力して速度をコントロールします。
var portAddrs = [20,21]; // HブリッジコントローラをつなぐGPIOポート番号
var portPromise;
var pca9685pwmPromise;

onload =async function(){ // ポートを初期化するための非同期関数
	try{
		console.log("onload");
		var gpioAccess = await navigator.requestGPIOAccess(); // thenの前の関数をawait接頭辞をつけて呼び出します。
		var ports = [];
		var i2cAccess = await navigator.requestI2CAccess();
		var i2cPort = i2cAccess.ports.get(1);
		var pca9685pwm = new PCA9685_PWM(i2cPort, 0x40);
		await pca9685pwm.init(100);
		for ( var i = 0 ; i < 2 ; i++ ){
			ports[i] = gpioAccess.ports.get(portAddrs[i]);
			await ports[i].export("out");
		}
		for ( var i = 0 ; i < 2 ; i++ ){
			ports[i].write(0);
		}
		portPromise = ports;
		pca9685pwmPromise = pca9685pwm;
	} catch (error) {
		console.error("error", error);
	}
}

async function pwm(ratio){
	var pca9685pwm = await pca9685pwmPromise;
	await pca9685pwm.setPWM(0,ratio);
}


async function free(){
	var ports = await portPromise;
	ports[0].write(0);
	ports[1].write(0);
}

async function brake(){
	var ports = await portPromise;
	ports[0].write(1);
	ports[1].write(1);
	await sleep(300); // 300ms待機してフリー状態にします
	ports[0].write(0);
	ports[1].write(0);
}

async function fwd(){
	var ports = await portPromise;
	ports[0].write(1);
	ports[1].write(0);
}

async function rev(){
	var ports = await portPromise;
	ports[0].write(0);
	ports[1].write(1);
}

// 単に指定したms秒スリープするだけの非同期処理関数
// この関数の定義方法はとりあえず気にしなくて良いです。コピペしてください。
function sleep(ms){
	return new Promise( function(resolve) {
		setTimeout(resolve, ms);
	});
}
	// サーボではなく、純粋にPWM出力装置としてPCA9685を使います
	// based on http://www.geocities.jp/zattouka/GarageHouse/micon/Motor/PCA9685/shield1.htm
	// Programmed by Satoru Takagi

	var PCA9685_PWM = function(i2cPort,slaveAddress){
	this.i2cPort = i2cPort;
	this.i2cSlave = null;
	this.slaveAddress = slaveAddress;
	this.frequency=null;
	};

	PCA9685_PWM.prototype = {
	sleep: function(ms){
	return new Promise((resolve)=>{setTimeout(resolve,ms);});
	},
	init: async function(frequency,noSetZero){
	// frequency : in Hz
	// angleRange : -angleRange to +angleRange degrees


	if(this.frequency){
	console.log("alredy initialised");
	}
	if ( frequency ){
	this.frequency = frequency;
	} else {
	this.frequency = 60; // default: 60Hz
	}
	var freq = Math.floor((25000000/(4096*this.frequency))-1);

	if ( freq < 0x03 \|\| freq > 0xff ){
	throw Error("Frequency should be between 24Hz to 1526Hz");
	}

	var i2cSlave = await this.i2cPort.open(this.slaveAddress);
	this.i2cSlave = i2cSlave;

	await this.i2cSlave.write8(0x00,0x00);
	await this.i2cSlave.write8(0x01,0x04);
	await this.i2cSlave.write8(0x00,0x10);
	await this.i2cSlave.write8(0xfe,freq);
	await this.i2cSlave.write8(0x00,0x00);
	await this.i2cSlave.write8(0x06,0x00);
	await this.i2cSlave.write8(0x07,0x00);
	await this.sleep(300);
	if ( !noSetZero ){
	for ( var pwmPort = 0 ; pwmPort < 16 ; pwmPort ++ ){
	await this.setPWM(pwmPort , 0 );
	}
	}
	},
	setPWM: async function(pwmPort,dutyRatio){
	// dutyRatio : 0.0(OFF) .. 1.0(ON)
	// console.log(pwmPort,angle)
	const portStart = 8;
	const portInterval = 4;
	if(this.i2cSlave == null){
	throw Error("i2cSlave Address does'nt yet open!");
	}
	if ( pwmPort < 0 \|\| pwmPort > 15 ){
	throw Error("PWM Port should be between 0 to 15");
	}
	if ( dutyRatio < 0 \|\| dutyRatio > 1 ){
	throw Error("dutyRatio should be between 0.0 to 1.0");
	}
	var ticks = Math.floor(4095 * dutyRatio);
	var tickH = (( ticks >> 8 ) & 0x0f);
	var tickL = (ticks & 0xff);

	var pwm = Math.round(portStart + pwmPort * portInterval);
	await this.i2cSlave.write8( pwm + 1, tickH);
	await this.i2cSlave.write8( pwm, tickL);
	}
	};
	<!DOCTYPE html>
	<html>
	<head>
	<meta charset="utf-8">
	<meta name="viewport" content="width=device-width">
	<title>GPIO-I2C-PWMHBridge</title>
	</head>
	<body>
	<script src="../../../polyfill/polyfill.js"></script>
	<script src="../../drivers/i2c-PCA9685_PWM.js"></script>
	<script src="pwhb.js"></script>
	<h1>GPIO H-Bridge Motor drive (with PWM)</h1>
	<input type="button" onclick="free()" value="BRAKE"></input>
	<input type="button" onclick="fwd()" value="FOWARD"></input>
	<input type="button" onclick="rev()" value="REVERSE"></input>
	<!-- <input type="button" onclick="brake()" value="BRAKE"></input> L298NではGPIO 0,0でもブレーキモードになるらしい -->
	<br>
	<input type="button" onclick="pwm(0)" value="0%(FREE)"></input> <!-- PWM 0%を指定することでフリーになるらしい -->
	<input type="button" onclick="pwm(0.2)" value="20%"></input>
	<input type="button" onclick="pwm(0.4)" value="40%"></input>
	<input type="button" onclick="pwm(0.6)" value="60%"></input>
	<input type="button" onclick="pwm(0.8)" value="80%"></input>
	<input type="button" onclick="pwm(1.0)" value="100%"></input>


	<div>
	<img src="PWMHBridge.png" height="500">
	</div>
	</body>
	</html>
	// Hブリッジモータードライバは正転[1,0]・逆転[0,1]・ブレーキ[1,1]・フリー[0,0]の4状態を
	// GPIOの２つの信号線を使って指示します
	// さらにPCA9685のPWMをEnableラインに入力して速度をコントロールします。
	var portAddrs = [20,21]; // HブリッジコントローラをつなぐGPIOポート番号
	var portPromise;
	var pca9685pwmPromise;

	onload =async function(){ // ポートを初期化するための非同期関数
	try{
	console.log("onload");
	var gpioAccess = await navigator.requestGPIOAccess(); // thenの前の関数をawait接頭辞をつけて呼び出します。
	var ports = [];
	var i2cAccess = await navigator.requestI2CAccess();
	var i2cPort = i2cAccess.ports.get(1);
	var pca9685pwm = new PCA9685_PWM(i2cPort, 0x40);
	await pca9685pwm.init(100);
	for ( var i = 0 ; i < 2 ; i++ ){
	ports[i] = gpioAccess.ports.get(portAddrs[i]);
	await ports[i].export("out");
	}
	for ( var i = 0 ; i < 2 ; i++ ){
	ports[i].write(0);
	}
	portPromise = ports;
	pca9685pwmPromise = pca9685pwm;
	} catch (error) {
	console.error("error", error);
	}
	}

	async function pwm(ratio){
	var pca9685pwm = await pca9685pwmPromise;
	await pca9685pwm.setPWM(0,ratio);
	}


	async function free(){
	var ports = await portPromise;
	ports[0].write(0);
	ports[1].write(0);
	}

	async function brake(){
	var ports = await portPromise;
	ports[0].write(1);
	ports[1].write(1);
	await sleep(300); // 300ms待機してフリー状態にします
	ports[0].write(0);
	ports[1].write(0);
	}

	async function fwd(){
	var ports = await portPromise;
	ports[0].write(1);
	ports[1].write(0);
	}

	async function rev(){
	var ports = await portPromise;
	ports[0].write(0);
	ports[1].write(1);
	}

	// 単に指定したms秒スリープするだけの非同期処理関数
	// この関数の定義方法はとりあえず気にしなくて良いです。コピペしてください。
	function sleep(ms){
	return new Promise( function(resolve) {
	setTimeout(resolve, ms);
	});
	}