Control stepper motor
Fork of ArduinoMotorShield by
ArduinoMotorShield.h
- Committer:
- piniels
- Date:
- 2013-11-07
- Revision:
- 1:5f2774bf44a5
- Parent:
- 0:f4e71504732d
File content as of revision 1:5f2774bf44a5:
/** Interface to control a stepper motor. * Specially design for Arduino motor shield, which has a L298 H-brigde. * * First version is written by Peter Ilsoe. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #ifndef ArduinoMotorShield_H #define ArduinoMotorShield_H #include "mbed.h" class ArduinoMotorShield { public: /** Create a DC/Stepper motor control interface. This class is able to control either DC motor or a Stepper motor. * This is specially designed for the Arduino motor shield board * * @param numberOfSteps The number of steps of the stepper motor used. * @param brakeA A DigitalOut, set high when the motor should brake. * @param brakeB A DigitalOut, set high when the motor should brake. * @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. * @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. * @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). * @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). */ ArduinoMotorShield(int numberOfSteps, PinName brakeA, PinName brakeB, PinName dirA, PinName dirB, PinName pvmA, PinName pvmB); /** Set the speed of a Stepper motor * * @param whatSpeed The speed of the Stepper motor as a RPM */ void setStepperSpeed(long whatSpeed); /** Move the stepper a number of steps * * @param numberOfSteps The number of steps. If the number is negative, * the motor moves in the reverse direction. */ void step(int numberOfSteps); /** Run at a specific speed until a startStop becomes false. * * @param startStop If true the stepper motor will run at the specified speed. If false stepper motor will stop */ void runStepperAtSpeed(bool startStop, int whatSpeed, int direction); /** Call back member for timer tick * */ void runMotor(void); private: void stepMotor(int this_step); int direction; // Direction of rotation int speed; // Speed in RPMs unsigned long step_delay; // delay between steps, in ms, based on speed int number_of_steps; // total number of steps this motor can take int step_number; // which step the motor is on PinName digiPvm; // store the common pin for PVM when DC motor and digital pin when stepper motor DigitalOut _BRAKEA; DigitalOut _BRAKEB; DigitalOut _DIRA; DigitalOut _DIRB; DigitalOut _ENA_A; DigitalOut _ENA_B; long last_step_time; // time stamp in ms of when the last step was taken }; #endif