ODE_FUCKFISH / ArduinoMotorShield

Control stepper motor

Fork of ArduinoMotorShield by Ilsoe Peter

ArduinoMotorShield.h@1:5f2774bf44a5, 2013-11-07 (annotated)

Committer:
piniels
Date:
Thu Nov 07 12:44:13 2013 +0000
Revision:
1:5f2774bf44a5
Parent:
0:f4e71504732d 
added enable pins to be enabled when stepper is running:-)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piniels 0:f4e71504732d 1 /** Interface to control a stepper motor.
piniels 0:f4e71504732d 2 * Specially design for Arduino motor shield, which has a L298 H-brigde.
piniels 0:f4e71504732d 3 *
piniels 0:f4e71504732d 4 * First version is written by Peter Ilsoe.
piniels 0:f4e71504732d 5 *
piniels 0:f4e71504732d 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
piniels 0:f4e71504732d 7 * of this software and associated documentation files (the "Software"), to deal
piniels 0:f4e71504732d 8 * in the Software without restriction, including without limitation the rights
piniels 0:f4e71504732d 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
piniels 0:f4e71504732d 10 * copies of the Software, and to permit persons to whom the Software is
piniels 0:f4e71504732d 11 * furnished to do so, subject to the following conditions:
piniels 0:f4e71504732d 12 *
piniels 0:f4e71504732d 13 * The above copyright notice and this permission notice shall be included in
piniels 0:f4e71504732d 14 * all copies or substantial portions of the Software.
piniels 0:f4e71504732d 15 *
piniels 0:f4e71504732d 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
piniels 0:f4e71504732d 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
piniels 0:f4e71504732d 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
piniels 0:f4e71504732d 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
piniels 0:f4e71504732d 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
piniels 0:f4e71504732d 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
piniels 0:f4e71504732d 22 * THE SOFTWARE.
piniels 0:f4e71504732d 23 */
piniels 0:f4e71504732d 24
piniels 0:f4e71504732d 25 #ifndef ArduinoMotorShield_H
piniels 0:f4e71504732d 26 #define ArduinoMotorShield_H
piniels 0:f4e71504732d 27
piniels 0:f4e71504732d 28 #include "mbed.h"
piniels 0:f4e71504732d 29
piniels 0:f4e71504732d 30 class ArduinoMotorShield
piniels 0:f4e71504732d 31 {
piniels 0:f4e71504732d 32
piniels 0:f4e71504732d 33 public:
piniels 0:f4e71504732d 34
piniels 0:f4e71504732d 35 /** Create a DC/Stepper motor control interface. This class is able to control either DC motor or a Stepper motor.
piniels 0:f4e71504732d 36 * This is specially designed for the Arduino motor shield board
piniels 0:f4e71504732d 37 *
piniels 0:f4e71504732d 38 * @param numberOfSteps The number of steps of the stepper motor used.
piniels 0:f4e71504732d 39 * @param brakeA A DigitalOut, set high when the motor should brake.
piniels 0:f4e71504732d 40 * @param brakeB A DigitalOut, set high when the motor should brake.
piniels 0:f4e71504732d 41 * @param dirA A DigitalOut, set high when the DC motor A should go forward, set low when going backwards. For the stepper motor the logic will control this.
piniels 0:f4e71504732d 42 * @param dirB A DigitalOut, set high when the DC motor B should go forward, set low when going backwards. For the stepper motor the logic will control this.
piniels 0:f4e71504732d 43 * @param pvmA A DigitalOut/PVM, Depending on what mode (DC motor or stepper motor) this pin will become PVM(DC motor) or digital output(stepper).
piniels 0:f4e71504732d 44 * @param pvmB A DigitalOut/PVM, Depending on what mode (DC motor or stepper motor) this pin will become PVM(DC motor) or digital output(stepper).
piniels 0:f4e71504732d 45 */
piniels 0:f4e71504732d 46 ArduinoMotorShield(int numberOfSteps, PinName brakeA, PinName brakeB, PinName dirA, PinName dirB, PinName pvmA, PinName pvmB);
piniels 0:f4e71504732d 47
piniels 0:f4e71504732d 48 /** Set the speed of a Stepper motor
piniels 0:f4e71504732d 49 *
piniels 0:f4e71504732d 50 * @param whatSpeed The speed of the Stepper motor as a RPM
piniels 0:f4e71504732d 51 */
piniels 0:f4e71504732d 52 void setStepperSpeed(long whatSpeed);
piniels 0:f4e71504732d 53
piniels 0:f4e71504732d 54 /** Move the stepper a number of steps
piniels 0:f4e71504732d 55 *
piniels 0:f4e71504732d 56 * @param numberOfSteps The number of steps. If the number is negative,
piniels 0:f4e71504732d 57 * the motor moves in the reverse direction.
piniels 0:f4e71504732d 58 */
piniels 0:f4e71504732d 59 void step(int numberOfSteps);
piniels 0:f4e71504732d 60
piniels 0:f4e71504732d 61 /** Run at a specific speed until a startStop becomes false.
piniels 0:f4e71504732d 62 *
piniels 0:f4e71504732d 63 * @param startStop If true the stepper motor will run at the specified speed. If false stepper motor will stop
piniels 0:f4e71504732d 64 */
piniels 0:f4e71504732d 65 void runStepperAtSpeed(bool startStop, int whatSpeed, int direction);
piniels 0:f4e71504732d 66
piniels 0:f4e71504732d 67 /** Call back member for timer tick
piniels 0:f4e71504732d 68 *
piniels 0:f4e71504732d 69 */
piniels 0:f4e71504732d 70 void runMotor(void);
piniels 0:f4e71504732d 71
piniels 0:f4e71504732d 72 private:
piniels 0:f4e71504732d 73 void stepMotor(int this_step);
piniels 0:f4e71504732d 74
piniels 0:f4e71504732d 75 int direction; // Direction of rotation
piniels 0:f4e71504732d 76 int speed; // Speed in RPMs
piniels 0:f4e71504732d 77 unsigned long step_delay; // delay between steps, in ms, based on speed
piniels 0:f4e71504732d 78 int number_of_steps; // total number of steps this motor can take
piniels 0:f4e71504732d 79 int step_number; // which step the motor is on
piniels 0:f4e71504732d 80 PinName digiPvm; // store the common pin for PVM when DC motor and digital pin when stepper motor
piniels 0:f4e71504732d 81
piniels 0:f4e71504732d 82 DigitalOut _BRAKEA;
piniels 0:f4e71504732d 83 DigitalOut _BRAKEB;
piniels 0:f4e71504732d 84 DigitalOut _DIRA;
piniels 0:f4e71504732d 85 DigitalOut _DIRB;
piniels 0:f4e71504732d 86 DigitalOut _ENA_A;
piniels 0:f4e71504732d 87 DigitalOut _ENA_B;
piniels 0:f4e71504732d 88 long last_step_time; // time stamp in ms of when the last step was taken
piniels 0:f4e71504732d 89
piniels 0:f4e71504732d 90 };
piniels 0:f4e71504732d 91
piniels 0:f4e71504732d 92
piniels 0:f4e71504732d 93 #endif