Merge pull request #3 from antoinepetty/create-begin-method

Create begin method
antoinepetty · Apr 13, 2020 · 21cef45 · 21cef45
2 parents cfbb29b + d8bd08f
commit 21cef45
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Showing 4 changed files with 16 additions and 6 deletions.
diff --git a/examples/rotateMotor/rotateMotor.ino b/examples/rotateMotor/rotateMotor.ino
@@ -3,12 +3,13 @@
 
 #define ADDR 0x08 // Address of motor on i2c bus
 
-RMCS220X motor = RMCS220X(ADDR);
+RMCS220X motor;
 
 void setup() {
   Serial.begin(9600);
   Serial.println("Start program");
 
+  motor.begin(ADDR);
   printDebugInfo();
 
   Serial.println("Setting position to 0 deg");

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=RMCS-220X
-version=1.0.0
+version=1.1.0
 author=Antoine Petty
 maintainer=Antoine Petty <arduino@antoinepetty.co.uk>
 sentence=A library to facilitate the control of a Rhino RMCS-220X Servo Motor over i2c.

diff --git a/src/RMCS-220X.cpp b/src/RMCS-220X.cpp
@@ -59,9 +59,13 @@ long RMCS220X::readAttr(byte command, int numberOfBytes) {
   return result;
 }
 
-RMCS220X::RMCS220X(byte incomingi2cAddress) {
-  Wire.begin(); // join i2c bus
-  i2cAddress = incomingi2cAddress; // set motor address
+RMCS220X::RMCS220X() {
+  // Empty constructor
+}
+
+void RMCS220X::begin(byte incomingi2cAddress) {
+    Wire.begin(); // join i2c bus
+    i2cAddress = incomingi2cAddress; // set motor address
 }
 
 void RMCS220X::writeMaxSpeed(int maxSpeed) {
@@ -153,3 +157,5 @@ double RMCS220X::readGoToPositionInDegrees() {
 void RMCS220X::goToRelativePositionInDegrees(double value) {
     goToRelativePositionInSteps(stepsFromDegrees(value));
 }
+
+
diff --git a/src/RMCS-220X.h b/src/RMCS-220X.h
@@ -42,7 +42,10 @@ class RMCS220X{
 
     public:
 
-        RMCS220X(byte incomingi2cAddress);
+        RMCS220X();
+
+        /* connect to i2c bus */
+        void begin(byte incomingi2cAddress);
 
         /* write the maximum speed of the motor (0 to 255) */
         void writeMaxSpeed(int maxSpeed);