Cortex Challenge Team / Mbed 2 deprecated NucleoF103-stepper_motor_with_button

Stepper motor with 5 states. State machine is used for switching between states.

Dependencies:   mbed

Fork of NucleoF103-stepper_motor_with_button by Vasek Moravcik

main.cpp@1:d30c9dbba3f2, 2015-04-26 (annotated)

Committer:
sh3ppard
Date:
Sun Apr 26 17:14:24 2015 +0000
Revision:
1:d30c9dbba3f2
Parent:
0:a8de23e49ba2 
Changed halfStep function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sh3ppard 0:a8de23e49ba2 1 /**********************************************************************************
sh3ppard 0:a8de23e49ba2 2 * @file main.cpp
sh3ppard 0:a8de23e49ba2 3 * @author Vaclav Moravcik
sh3ppard 0:a8de23e49ba2 4 * @version V0.1
sh3ppard 0:a8de23e49ba2 5 * @date 22-March-2015
sh3ppard 0:a8de23e49ba2 6 * @brief Controling of stepper motor with state machine. Presing the button changes direction, speed or stops the motor.
sh3ppard 0:a8de23e49ba2 7 ***********************************************************************************/
sh3ppard 0:a8de23e49ba2 8
sh3ppard 0:a8de23e49ba2 9 /* Includes ----------------------------------------------------------------------*/
sh3ppard 0:a8de23e49ba2 10 #include "mbed.h"
sh3ppard 0:a8de23e49ba2 11
sh3ppard 0:a8de23e49ba2 12 /* Defines -----------------------------------------------------------------------*/
sh3ppard 0:a8de23e49ba2 13
sh3ppard 0:a8de23e49ba2 14 /* Function prototypes -----------------------------------------------------------*/
sh3ppard 0:a8de23e49ba2 15 void goForward();
sh3ppard 0:a8de23e49ba2 16 void goBackward();
sh3ppard 0:a8de23e49ba2 17 void accelerate();
sh3ppard 0:a8de23e49ba2 18 void decelerate();
sh3ppard 0:a8de23e49ba2 19 void stop();
sh3ppard 0:a8de23e49ba2 20 void pressed();
sh3ppard 0:a8de23e49ba2 21
sh3ppard 0:a8de23e49ba2 22 /* Variables ---------------------------------------------------------------------*/
sh3ppard 0:a8de23e49ba2 23 int direction = 0;
sh3ppard 0:a8de23e49ba2 24 bool running = true;
sh3ppard 0:a8de23e49ba2 25 int state = 1;
sh3ppard 0:a8de23e49ba2 26 float stepFreq = 5;
sh3ppard 0:a8de23e49ba2 27 int accelerationMode = 0; //0 - no acceleration, 1 - accelerating, 2 - decelerating
sh3ppard 1:d30c9dbba3f2 28 int position = 0;
sh3ppard 1:d30c9dbba3f2 29 int posArray[4][8] = {1,1,0,0,0,0,0,1,
sh3ppard 1:d30c9dbba3f2 30 0,1,1,1,0,0,0,0,
sh3ppard 1:d30c9dbba3f2 31 0,0,0,1,1,1,0,0,
sh3ppard 1:d30c9dbba3f2 32 0,0,0,0,0,1,1,1};
sh3ppard 0:a8de23e49ba2 33
sh3ppard 0:a8de23e49ba2 34 //mbed - initialization of peripherals
sh3ppard 0:a8de23e49ba2 35 DigitalOut my_led(LED1);
sh3ppard 0:a8de23e49ba2 36 DigitalOut out1(PB_10);
sh3ppard 0:a8de23e49ba2 37 DigitalOut out2(PB_4);
sh3ppard 0:a8de23e49ba2 38 DigitalOut out3(PB_5);
sh3ppard 0:a8de23e49ba2 39 DigitalOut out4(PB_3);
sh3ppard 0:a8de23e49ba2 40 InterruptIn my_button(USER_BUTTON);
sh3ppard 0:a8de23e49ba2 41
sh3ppard 0:a8de23e49ba2 42 /* Functions----------------------------------------------------------------------*/
sh3ppard 0:a8de23e49ba2 43
sh3ppard 0:a8de23e49ba2 44 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 45 * Function Name : goForward.
sh3ppard 0:a8de23e49ba2 46 * Description : Sets variables so the motor revolves forward.
sh3ppard 0:a8de23e49ba2 47 * Input : none.
sh3ppard 0:a8de23e49ba2 48 * Output : none.
sh3ppard 0:a8de23e49ba2 49 * Return : none.
sh3ppard 0:a8de23e49ba2 50 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 51 void goForward() {
sh3ppard 0:a8de23e49ba2 52 accelerationMode = 0;
sh3ppard 0:a8de23e49ba2 53 running = true;
sh3ppard 0:a8de23e49ba2 54 direction = 0;
sh3ppard 0:a8de23e49ba2 55 }
sh3ppard 0:a8de23e49ba2 56
sh3ppard 0:a8de23e49ba2 57 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 58 * Function Name : goBackward.
sh3ppard 0:a8de23e49ba2 59 * Description : Sets variables so the motor revolves backward.
sh3ppard 0:a8de23e49ba2 60 * Input : none.
sh3ppard 0:a8de23e49ba2 61 * Output : none.
sh3ppard 0:a8de23e49ba2 62 * Return : none.
sh3ppard 0:a8de23e49ba2 63 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 64 void goBackward() {
sh3ppard 0:a8de23e49ba2 65 accelerationMode = 0;
sh3ppard 0:a8de23e49ba2 66 running = true;
sh3ppard 0:a8de23e49ba2 67 direction = 1;
sh3ppard 0:a8de23e49ba2 68 }
sh3ppard 0:a8de23e49ba2 69
sh3ppard 0:a8de23e49ba2 70 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 71 * Function Name : stop.
sh3ppard 0:a8de23e49ba2 72 * Description : Stops the rotation of the motor.
sh3ppard 0:a8de23e49ba2 73 * Input : none.
sh3ppard 0:a8de23e49ba2 74 * Output : none.
sh3ppard 0:a8de23e49ba2 75 * Return : none.
sh3ppard 0:a8de23e49ba2 76 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 77 void stop() {
sh3ppard 0:a8de23e49ba2 78 running = false;
sh3ppard 0:a8de23e49ba2 79 }
sh3ppard 0:a8de23e49ba2 80
sh3ppard 0:a8de23e49ba2 81 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 82 * Function Name : accelerate.
sh3ppard 0:a8de23e49ba2 83 * Description : Sets accelerationMode so the stepFrequency increases over time.
sh3ppard 0:a8de23e49ba2 84 * Input : none.
sh3ppard 0:a8de23e49ba2 85 * Output : none.
sh3ppard 0:a8de23e49ba2 86 * Return : none.
sh3ppard 0:a8de23e49ba2 87 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 88 void accelerate() {
sh3ppard 0:a8de23e49ba2 89 accelerationMode = 1;
sh3ppard 0:a8de23e49ba2 90 running = true;
sh3ppard 0:a8de23e49ba2 91 }
sh3ppard 0:a8de23e49ba2 92
sh3ppard 0:a8de23e49ba2 93 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 94 * Function Name : decelerate.
sh3ppard 0:a8de23e49ba2 95 * Description : Sets accelerationMode so the stepFrequency decreases over time.
sh3ppard 0:a8de23e49ba2 96 * Input : none.
sh3ppard 0:a8de23e49ba2 97 * Output : none.
sh3ppard 0:a8de23e49ba2 98 * Return : none.
sh3ppard 0:a8de23e49ba2 99 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 100 void decelerate() {
sh3ppard 0:a8de23e49ba2 101 accelerationMode = 2;
sh3ppard 0:a8de23e49ba2 102 running = true;
sh3ppard 0:a8de23e49ba2 103 }
sh3ppard 0:a8de23e49ba2 104
sh3ppard 0:a8de23e49ba2 105 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 106 * Function Name : pressed.
sh3ppard 0:a8de23e49ba2 107 * Description : When button is pushed the state is switched.
sh3ppard 0:a8de23e49ba2 108 * Input : none.
sh3ppard 0:a8de23e49ba2 109 * Output : none.
sh3ppard 0:a8de23e49ba2 110 * Return : none.
sh3ppard 0:a8de23e49ba2 111 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 112 void pressed() {
sh3ppard 0:a8de23e49ba2 113 if(state < 5) { //Program goes through the states in circle
sh3ppard 0:a8de23e49ba2 114 state++;
sh3ppard 0:a8de23e49ba2 115 }
sh3ppard 0:a8de23e49ba2 116 else {
sh3ppard 0:a8de23e49ba2 117 state = 1;
sh3ppard 0:a8de23e49ba2 118 }
sh3ppard 0:a8de23e49ba2 119 switch(state){ //Depending on the state the appropriate action is done
sh3ppard 0:a8de23e49ba2 120 case 1 : //Stopped
sh3ppard 0:a8de23e49ba2 121 goForward();
sh3ppard 0:a8de23e49ba2 122 break;
sh3ppard 0:a8de23e49ba2 123 case 2 : //Running forward
sh3ppard 0:a8de23e49ba2 124 goBackward();
sh3ppard 0:a8de23e49ba2 125 break;
sh3ppard 0:a8de23e49ba2 126 case 3 : //Running backward
sh3ppard 0:a8de23e49ba2 127 stop();
sh3ppard 0:a8de23e49ba2 128 break;
sh3ppard 0:a8de23e49ba2 129 case 4 : //Accelerating
sh3ppard 0:a8de23e49ba2 130 accelerate();
sh3ppard 0:a8de23e49ba2 131 break;
sh3ppard 0:a8de23e49ba2 132 case 5 : //Accelerating
sh3ppard 0:a8de23e49ba2 133 decelerate();
sh3ppard 0:a8de23e49ba2 134 break;
sh3ppard 0:a8de23e49ba2 135 }
sh3ppard 0:a8de23e49ba2 136 }
sh3ppard 0:a8de23e49ba2 137
sh3ppard 0:a8de23e49ba2 138 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 139 * Function Name : increment.
sh3ppard 0:a8de23e49ba2 140 * Description : Increments step position and when reaches limit, circles back to start value.
sh3ppard 0:a8de23e49ba2 141 * Input : position: current position of motor. direction: decides if function counts up or down.
sh3ppard 0:a8de23e49ba2 142 * : upperLimit: limit stated by resolution of stepping (for half-stepping its 8).
sh3ppard 0:a8de23e49ba2 143 * Output : position: new incremented position.
sh3ppard 0:a8de23e49ba2 144 * Return :
sh3ppard 0:a8de23e49ba2 145 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 146 int increment(int position ,int direction, int upperLimit) {
sh3ppard 0:a8de23e49ba2 147 if(direction == 0) { //Counting up
sh3ppard 0:a8de23e49ba2 148 if(position > upperLimit - 1) { //Check limits
sh3ppard 0:a8de23e49ba2 149 position = 1; //If position is equal to upperLimit then come back to 1
sh3ppard 0:a8de23e49ba2 150 }
sh3ppard 0:a8de23e49ba2 151 else {
sh3ppard 0:a8de23e49ba2 152 position++;
sh3ppard 0:a8de23e49ba2 153 }
sh3ppard 0:a8de23e49ba2 154 }
sh3ppard 0:a8de23e49ba2 155 else { //Counting down
sh3ppard 0:a8de23e49ba2 156 if(position < 2) { //Check limits
sh3ppard 0:a8de23e49ba2 157 position = upperLimit; //If position is equal to 1 then come back to upperLimit
sh3ppard 0:a8de23e49ba2 158 }
sh3ppard 0:a8de23e49ba2 159 else {
sh3ppard 0:a8de23e49ba2 160 position--;
sh3ppard 0:a8de23e49ba2 161 }
sh3ppard 0:a8de23e49ba2 162 }
sh3ppard 0:a8de23e49ba2 163 return position;
sh3ppard 0:a8de23e49ba2 164 }
sh3ppard 0:a8de23e49ba2 165
sh3ppard 0:a8de23e49ba2 166 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 167 * Function Name : halfStep.
sh3ppard 0:a8de23e49ba2 168 * Description : Depending on current position function activates corresponding outputs.
sh3ppard 0:a8de23e49ba2 169 * Input : position: current position of motor.
sh3ppard 0:a8de23e49ba2 170 * Output : none.
sh3ppard 0:a8de23e49ba2 171 * Return : none.
sh3ppard 0:a8de23e49ba2 172 *******************************************************************************/
sh3ppard 1:d30c9dbba3f2 173 void halfStep(int position) { //Alternating between one powered coil and two adjacent coils.
sh3ppard 1:d30c9dbba3f2 174 out1.write(posArray[0][position]);
sh3ppard 1:d30c9dbba3f2 175 out2.write(posArray[1][position]);
sh3ppard 1:d30c9dbba3f2 176 out3.write(posArray[2][position]);
sh3ppard 1:d30c9dbba3f2 177 out4.write(posArray[3][position]);
sh3ppard 0:a8de23e49ba2 178 }
sh3ppard 0:a8de23e49ba2 179
sh3ppard 0:a8de23e49ba2 180 /*******************************************************************************
sh3ppard 0:a8de23e49ba2 181 * Function Name : main.
sh3ppard 0:a8de23e49ba2 182 * Description : Main routine.
sh3ppard 0:a8de23e49ba2 183 * Input : None.
sh3ppard 0:a8de23e49ba2 184 * Output : None.
sh3ppard 0:a8de23e49ba2 185 * Return : None.
sh3ppard 0:a8de23e49ba2 186 *******************************************************************************/
sh3ppard 0:a8de23e49ba2 187 int main() {
sh3ppard 0:a8de23e49ba2 188
sh3ppard 0:a8de23e49ba2 189 // Set button action
sh3ppard 0:a8de23e49ba2 190 my_button.fall(&pressed); //On falling edge function pressed is called
sh3ppard 0:a8de23e49ba2 191
sh3ppard 0:a8de23e49ba2 192 while (1) { //Infinite while loop
sh3ppard 0:a8de23e49ba2 193 if(running == true) {
sh3ppard 0:a8de23e49ba2 194 halfStep(position);
sh3ppard 1:d30c9dbba3f2 195 position = increment(position , direction, 7);
sh3ppard 1:d30c9dbba3f2 196 my_led = !my_led; //Signaliyation of stepping.
sh3ppard 0:a8de23e49ba2 197 }
sh3ppard 0:a8de23e49ba2 198 if(accelerationMode == 1 && stepFreq < 500) {
sh3ppard 0:a8de23e49ba2 199 wait(0.05); //For better control over acceleration
sh3ppard 0:a8de23e49ba2 200 stepFreq = stepFreq + 1; //Increases stepFreq causing faster rotation of the motor
sh3ppard 0:a8de23e49ba2 201 }
sh3ppard 0:a8de23e49ba2 202 if(accelerationMode == 2 && stepFreq > 1) {
sh3ppard 0:a8de23e49ba2 203 wait(0.05); //For better control over deceleration
sh3ppard 0:a8de23e49ba2 204 stepFreq = stepFreq - 1; //Decreases stepFreq causing slower rotation of the motor
sh3ppard 0:a8de23e49ba2 205 }
sh3ppard 0:a8de23e49ba2 206 wait(1/stepFreq); // 1/stepFreq ms wait
sh3ppard 0:a8de23e49ba2 207 }
sh3ppard 0:a8de23e49ba2 208 }
sh3ppard 0:a8de23e49ba2 209