StepperMotorUni.h

00001 /** Stepper Motor (Unipolar) control library
00002  *
00003  *  @class   StepperMotorUni
00004  *  @author  Dwijay.Edutech Learning Solutions
00005  *  @version 1.0
00006  *  @date    1-Feb-2016
00007  *
00008  *  The library that controls stepper motor via motor driver chip
00009  *  This is a driver for a unipolar stepper motor.
00010  *
00011  *  Example:
00012  *  @code
00013  *  #include "mbed.h"
00014  *  #include "StepperMotorUni.h"
00015  *
00016  *  StepperMotorUni motor( p26, p25, p24, p23 );
00017  *
00018  *  int main()
00019  *  {
00020  *      motor.set_operation_mode(StepperMotorUni::STEP);
00021  *
00022  *      while ( 1 ) {
00023  *          motor.rotate_angle(StepperMotorUni::CLOCKWISE,90,0.02);
00024  *          wait( 1 );
00025  *
00026  *          motor.rotate_angle(StepperMotorUni::COUNTER_CLOCKWISE,90,0.02);
00027  *          wait( 1 );
00028  *      }
00029  *  }
00030  *  @endcode
00031  */
00032 
00033 #ifndef    MBED_STEPPERMOTOR_UNIPOLAR
00034 #define    MBED_STEPPERMOTOR_UNIPOLAR
00035 
00036 #include "mbed.h"
00037 
00038 /* Default Value */
00039 #define MAX_MSPS   0.5   // 500 millisecond per step
00040 
00041 /******************************************************************************/
00042 /*                      Stepper Motor Calibration                             */
00043 /******************************************************************************/
00044 #define     CAL_ANGLE           1.8         // Stepper motor calibration angle
00045 
00046 
00047 /******************************************************************************/
00048 /*                      Stepper Motor Selection                             */
00049 /******************************************************************************/
00050 #define     GENERAL     false
00051 #define     STM601      true
00052 
00053 class StepperMotorUni
00054 {
00055 public:
00056 
00057     /** Constants for motor rotate mode */
00058     typedef enum  {
00059         STEP,                       /**< Single step operation (default)    */
00060         HALFSTEP                    /**< half step operation             */
00061     } OperationMode;
00062 
00063     /** Constants for motor rotate mode */
00064     typedef enum  {
00065         CLOCKWISE,             /**< one-way: clockwise turn                */
00066         COUNTER_CLOCKWISE      /**< one-way: counter clockwise turn        */
00067     } RotMode;
00068 
00069     /** Constants for syncronization mode */
00070     typedef enum  {
00071         ASYNCHRONOUS,               /**< program does wait motor turn completion (default)  */
00072         SYNCHRONOUS                 /**< program doesn't wait motor turn completion         */
00073     } SyncMode;
00074 
00075     /** Create a stepper motor object connected to specified DigitalOut pins and a DigitalIn pin
00076      *
00077      *  @param out_A DigitalOut pin for motor pulse signal-A
00078      *  @param out_B DigitalOut pin for motor pulse signal-B
00079      *  @param out_C DigitalOut pin for motor pulse signal-C
00080      *  @param out_D DigitalOut pin for motor pulse signal-D
00081      */
00082     StepperMotorUni(
00083         PinName out_A,
00084         PinName out_B,
00085         PinName out_C,
00086         PinName out_D
00087     );
00088 
00089     /**
00090      * @brief Sends Sequence to turn motor
00091      * @param stepPos pattern index value/ sequence number
00092      */
00093     void send_sequence(int stepPos);
00094 
00095     /**
00096      * @brief Set Stepper operation mode
00097      * @param v     @arg STEP       Single Step operation
00098      *              @arg HALFSTEP   Half Step operation
00099      */
00100     void set_operation_mode( OperationMode v );
00101 
00102     /**
00103      * @brief Rotate motor at specified angle with given speed
00104      * @param StMotorDirection Sets motor direction
00105      *        @arg CLOCKWISE
00106      *        @arg COUNTER_CLOCKWISE
00107      * @param Angle     Specify rotation angle
00108      * @param Speed     Specify Speed in Millisecond Per Step
00109      *                  50msps = 0.050 (It will take 50ms for 1 step)
00110      *
00111      * Calculations:
00112      * Move 360 degrees in 2 seconds
00113      *
00114      * operation mode = STEP                    operation mode = HALFSTEP
00115      *                           Time (in ms)
00116      *              speed = ------------------------
00117      *                       degrees/deg_per_step
00118      *
00119      *          2000    2000                            2000   2000
00120      *  speed =-------= ----= 10 = 0.010msps    speed =-------=----= 5 = 0.005msps
00121      *         360/1.8   200                           360/0.9  400
00122      *
00123      */
00124     void rotate_angle(RotMode StMotorDirection, int Angle, float Speed);
00125 
00126     /**
00127      * @brief Rotate motor with given steps with given time
00128      * @param StMotorDirection Sets motor direction
00129      *        @arg CLOCKWISE
00130      *        @arg COUNTER_CLOCKWISE
00131      * @param Steps     Specify Steps to rotate
00132      * @param Speed     Specify Speed in Millisecond Per Step
00133      *                  50msps = 0.050 (It will take 50ms for 1 step)
00134      *
00135      * Calculations:
00136      * Move 200 steps in 2 seconds
00137      *          Time (in ms)    2000
00138      *  speed = -------------= ------ = 10 = 0.010msps
00139      *             Steps         200
00140      *
00141      */
00142     void rotate_steps(RotMode StMotorDirection, int Steps, float Speed);
00143 
00144     /** Interface for syncronization mode setting
00145      *
00146      *  Example:
00147      *  @code
00148      *  StepperMotor    m( p21, p22, p23, p24 );
00149      *  int main() {
00150      *      m.set_sync_mode( StepperMotor::SYNCHRONOUS );
00151      *      ...
00152      *  @endcode
00153      *
00154      *  @param m motor rotate mode : ASYNCHRONOUS (default) or SYNCHRONOUS
00155      */
00156     void set_sync_mode( SyncMode m );
00157 
00158     /**
00159      *  @brief Check remaining distance that motor need to move
00160      *  software can check if the motor action completed in asynchronous mode
00161      *  @return remaining steps that motor need to go
00162      */
00163     int distance( void );
00164 
00165     /**
00166      *  @brief Pause/Resume the motor action
00167      *  @param sw use "true" for pause, "false" (default) for resume
00168      */
00169     void set_pause( int sw );
00170 
00171     /**
00172      * @brief Stop motor and reset values to default
00173      */
00174     void stop( void );
00175 
00176 private:
00177     Ticker      t;
00178     BusOut      motor_out;
00179 
00180     static unsigned char  pattern_step_cw[ 4 ];  //  1 phase pulse pattern for motor control
00181     static unsigned char  pattern_step_acw[ 4 ];  //  1 phase pulse pattern for motor control
00182     static unsigned char  pattern_halfstep_cw[ 8 ];   //  1 phase pulse pattern for motor control
00183     static unsigned char  pattern_halfstep_acw[ 8 ];   //  1 phase pulse pattern for motor control
00184     unsigned char          *pattern;
00185     int                    pat_index_mask;
00186     OperationMode          phase_mode;
00187     RotMode     rot_mode;
00188     SyncMode    sync_mode;
00189     int         current_pos;
00190     int         target_pos;
00191     float       msps;
00192     float       max_msps;
00193     int         pause;
00194 
00195     void set_target_pos( int p );  //  target position setting interface
00196     void motor_maintain( void );   //  this function is called periodically by Ticker
00197 };
00198 
00199 
00200 #endif