Revision 0:c346170974bc, committed 2015-10-20

Comitter:

agarg45

Date:

Tue Oct 20 00:36:06 2015 +0000

Commit message:

Stepper Motor X27168 ver 1.0

Changed in this revision

diff -r 000000000000 -r c346170974bc StepperMotor_X27168.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor_X27168.h	Tue Oct 20 00:36:06 2015 +0000
@@ -0,0 +1,137 @@
+/** Stepper Motor control library
+ *  
+ *  @class   StepperMotor_X27168
+ *  @author  Aditya Garg, Nisarg Himani
+ *  @version 1.0 (Oct-19-2015)
+ *  
+ *  This is the driver for Automotive Gauge Stepper Motor X27168
+ *  
+ *  ----------------------IMPORTANT--------------------
+ *  The API assumes motor is postioned at zero as there
+ *  is no way to detect or control that in software
+ *  ---------------------------------------------------
+ */
+
+#ifndef MBED_STEPPER_MOTOR_X27168
+#define MBED_STEPPER_MOTOR_X27168
+
+#include "mbed.h"
+
+#define MAX_POS         629         // Maximum Steps Possible (not degrees)
+#define DEFAULT_SPEED   500         // Default Speed in Steps per second
+
+/** Stepper Motor control class
+ *
+ *  Example:
+ *  @code
+ *  #include "mbed.h"
+ *  #include "StepperMotor_X27168.h"
+ *
+ *  StepperMotor_X27168 smotor(p25, p26, p23, p22);
+ *  
+ *  int main() {
+ *  
+ *      smotor.step_position(180);
+ *      wait(0.5);
+ *      
+ *      smotor.step_position(100);
+ *      wait(0.5);
+ *      
+ *      smotor.angle_position(270);
+ *      wait(0.5);
+ *      
+ *      smotor.step_position(0);
+ *      wait(0.5);
+ *  }
+ *  @endcode
+ */
+
+class StepperMotor_X27168 {
+
+public:
+
+    /** Constants for motor rotate control */
+    typedef enum  {
+        COIL_A_FOR = 0,         // Forward Polarity in H-Bright Port A
+        COIL_B_FOR = 1,         // Forward Polarity in H-Bright Port B
+        COIL_A_REV = 2,         // Reverse Polarity in H-Bright Port A
+        COIL_B_REV = 3,         // Reverse Polarity in H-Bright Port B
+        STOP_MOTOR = 4,         // Turn Off Both Coils
+    } Polarity;
+    
+    /** Create a stepper motor object connected to specified DigitalOut pins
+     *
+     *  @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1)
+     *  @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2)
+     *  @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1)
+     *  @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2)
+     */
+    StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r);
+    
+    /** Create a stepper motor object connected to specified DigitalOut pins
+     *  starting at specified position
+     *
+     *  @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1)
+     *  @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2)
+     *  @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1)
+     *  @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2)
+     *  @param init_step_position Rotate of given initial step position
+     */
+    StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int init_step_position);
+    
+    /** Set the motor speed (i.e. number of steps per second)
+     *  Motor will malfuntion is speed is faster than the
+     *  the maximum capability if the motor.
+     *
+     *  @param s steps per second : lower number makes the turn slower (default = 1000)
+     */
+    void set_speed(float s);
+    
+    /** Get the motor speed (i.e. number of steps per second)
+     *
+     *  @return steps per second
+     */
+    int get_speed();
+    
+    /** Set the maximum steps the motor should take (not degrees)
+     *
+     *  @param p maximum_steps :(ignored if parameter is greater than 629, the physical limit of the motor)
+     */
+    void set_max_position(int p);
+    
+    /** Get the motor maximum position (int steps not degress)
+     *
+     *  @return maximum position
+     */
+    int get_max_position();
+    
+    /** Turn the motor one step (1/2 Degree)
+     *
+     *  @param dir 0 CLOCKWISE/FORWARD
+     *             1 ANTI-CLOCKWISE/REVERSE
+     *             2 STOP
+     *
+     *  @return current_position of the motor
+     */            
+    int step(int dir);
+    
+    /** Turn the motor to a specific step 
+     *
+     *  @param pos desired position in steps (0-max_position)
+     */      
+    void step_position(int pos);
+    
+    /** Turn the motor to a specific degree angle with a resolution of 0.5 degrees
+     *
+     *  @param angle desired angle (0-(max_positon/2))
+     */
+    void angle_position(float angle);
+    
+private:
+    BusOut motor_control;       // 4-bit Bus Controlling the H-Brigde
+    int max_position;           // Software Limit to motor rotation
+    int speed;                  // Speed of Rotation
+    int cur_position;           // Current Position of Motor (0-max_position)
+    Polarity cur_state;         // Current State of H-Brige Controls
+};
+#endif
\ No newline at end of file

diff -r 000000000000 -r c346170974bc Stepper_Motor_X27168.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper_Motor_X27168.cpp	Tue Oct 20 00:36:06 2015 +0000
@@ -0,0 +1,98 @@
+#include "StepperMotor_X27168.h"
+
+StepperMotor_X27168::StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r) 
+            :motor_control(A_f, A_r, B_f, B_r)
+{
+        motor_control = 0x0;
+        max_position = MAX_POS;
+        speed = DEFAULT_SPEED;
+        cur_state = STOP_MOTOR;
+        cur_position = 0;
+}
+
+StepperMotor_X27168::StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int init_step_position)
+            :motor_control(A_f, A_r, B_f, B_r)
+{
+        StepperMotor_X27168(A_f, A_r, B_f, B_r);
+        step_position(init_step_position);
+}
+
+void StepperMotor_X27168::set_speed(float s) {
+    speed = s;
+}
+
+int StepperMotor_X27168::get_speed() {
+    return speed;
+}
+
+void StepperMotor_X27168::set_max_position(int p) {
+    if(p<MAX_POS) {
+        max_position = p;
+    }
+}
+
+int StepperMotor_X27168::get_max_position() {
+    return max_position;
+}
+     
+int StepperMotor_X27168::step(int dir) {
+    if(dir==2)
+        cur_state = STOP_MOTOR;
+    else if(dir == 0) {
+        cur_state = (Polarity)((cur_state+1)%4);
+        
+        if(cur_position <= MAX_POS) {
+            cur_position++;
+        }
+    }
+    else if (dir == 1) {
+        cur_state = (Polarity)((cur_state-1)%4);
+        cur_state = (Polarity)(cur_state == 255 ? cur_state + 4 : cur_state);
+        
+        if(cur_position>= 0) {
+            cur_position--;
+        }
+    }
+    else
+        return -1;
+        
+    switch (cur_state) {
+        case 0:
+            motor_control = 0x1;
+            break;
+        case 1:
+            motor_control = 0x4;
+            break;
+        case 2:
+            motor_control = 0x2;
+            break;
+        case 3:
+            motor_control = 0x8;
+            break;
+        case 4:
+            motor_control = 0x0;
+            break;
+    }
+    wait(1.0/speed);
+    return cur_position;
+}
+
+void StepperMotor_X27168::step_position(int pos) {
+    if(pos > max_position)
+        pos = max_position;
+    else if(pos < 0)
+        pos = 0;
+    
+    while(cur_position < pos) {
+        step(0);
+    }
+    while(cur_position > pos) {
+        step(1);
+    }
+    
+    step(2);
+}
+
+void StepperMotor_X27168::angle_position(float angle) {
+    step_position(int(angle*2));
+}
\ No newline at end of file