motor control
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StepperMotor Class Reference
An abstract class for StepperMotor components. More...
#include <StepperMotor_class.h>
Inherits Component.
Inherited by L6474.
Public Types | |
enum | direction_t |
Rotation modes. More... | |
Public Member Functions | |
virtual unsigned int | GetStatus (void)=0 |
Getting the status. | |
virtual float | GetParameter (unsigned int parameter)=0 |
Getting a parameter. | |
virtual signed int | GetPosition (void)=0 |
Getting the position. | |
virtual signed int | GetMark (void)=0 |
Getting the marked position. | |
virtual unsigned int | GetSpeed (void)=0 |
Getting the current speed in pps. | |
virtual unsigned int | GetMaxSpeed (void)=0 |
Getting the maximum speed in pps. | |
virtual unsigned int | GetMinSpeed (void)=0 |
Getting the minimum speed in pps. | |
virtual unsigned int | GetAcceleration (void)=0 |
Getting the acceleration in pps^2. | |
virtual unsigned int | GetDeceleration (void)=0 |
Getting the deceleration in pps^2. | |
virtual direction_t | GetDirection (void)=0 |
Getting the direction of rotation. | |
virtual void | SetParameter (unsigned int parameter, float value)=0 |
Setting a parameter. | |
virtual void | SetHome (void)=0 |
Setting the current position to be the home position. | |
virtual void | SetMark (void)=0 |
Setting the current position to be the marked position. | |
virtual void | SetMaxSpeed (unsigned int speed)=0 |
Setting the maximum speed in pps. | |
virtual void | SetMinSpeed (unsigned int speed)=0 |
Setting the minimum speed in pps. | |
virtual void | SetAcceleration (unsigned int acceleration)=0 |
Setting the acceleration in pps^2. | |
virtual void | SetDeceleration (unsigned int deceleration)=0 |
Setting the deceleration in pps^2. | |
virtual void | GoTo (signed int position)=0 |
Going to a specified position. | |
virtual void | GoHome (void)=0 |
Going to the home position. | |
virtual void | GoMark (void)=0 |
Going to the marked position. | |
virtual void | Run (direction_t direction)=0 |
Running the motor towards a specified direction. | |
virtual void | Move (direction_t direction, unsigned int steps)=0 |
Moving the motor towards a specified direction for a certain number of steps. | |
virtual void | SoftStop (void)=0 |
Stopping the motor through an immediate deceleration up to zero speed. | |
virtual void | HardStop (void)=0 |
Stopping the motor through an immediate infinite deceleration. | |
virtual void | SoftHiZ (void)=0 |
Disabling the power bridge after performing a deceleration to zero. | |
virtual void | HardHiZ (void)=0 |
Disabling the power bridge immediately. | |
virtual void | WaitWhileActive (void)=0 |
Waiting while the motor is active. | |
virtual int | Init (void *init)=0 |
Initializing the component. | |
virtual int | ReadID (uint8_t *id)=0 |
Getting the ID of the component. |
Detailed Description
An abstract class for StepperMotor components.
Definition at line 55 of file StepperMotor_class.h.
Member Enumeration Documentation
enum direction_t |
Rotation modes.
Definition at line 61 of file StepperMotor_class.h.
Member Function Documentation
virtual unsigned int GetAcceleration | ( | void | ) | [pure virtual] |
Getting the acceleration in pps^2.
- Parameters:
-
None.
- Return values:
-
The acceleration in pps^2.
Implemented in L6474.
virtual unsigned int GetDeceleration | ( | void | ) | [pure virtual] |
Getting the deceleration in pps^2.
- Parameters:
-
None.
- Return values:
-
The deceleration in pps^2.
Implemented in L6474.
virtual direction_t GetDirection | ( | void | ) | [pure virtual] |
Getting the direction of rotation.
- Parameters:
-
None.
- Return values:
-
The direction of rotation.
Implemented in L6474.
virtual signed int GetMark | ( | void | ) | [pure virtual] |
Getting the marked position.
- Parameters:
-
None.
- Return values:
-
The marked position.
Implemented in L6474.
virtual unsigned int GetMaxSpeed | ( | void | ) | [pure virtual] |
Getting the maximum speed in pps.
- Parameters:
-
None.
- Return values:
-
The maximum speed in pps.
Implemented in L6474.
virtual unsigned int GetMinSpeed | ( | void | ) | [pure virtual] |
Getting the minimum speed in pps.
- Parameters:
-
None.
- Return values:
-
The minimum speed in pps.
Implemented in L6474.
virtual float GetParameter | ( | unsigned int | parameter ) | [pure virtual] |
Getting a parameter.
- Parameters:
-
parameter The parameter's identifier (or its register address).
- Return values:
-
The parameter's value.
Implemented in L6474.
virtual signed int GetPosition | ( | void | ) | [pure virtual] |
virtual unsigned int GetSpeed | ( | void | ) | [pure virtual] |
Getting the current speed in pps.
- Parameters:
-
None.
- Return values:
-
The current speed in pps.
Implemented in L6474.
virtual unsigned int GetStatus | ( | void | ) | [pure virtual] |
virtual void GoHome | ( | void | ) | [pure virtual] |
virtual void GoMark | ( | void | ) | [pure virtual] |
virtual void GoTo | ( | signed int | position ) | [pure virtual] |
Going to a specified position.
- Parameters:
-
position The desired position.
- Return values:
-
None.
Implemented in L6474.
virtual void HardHiZ | ( | void | ) | [pure virtual] |
Disabling the power bridge immediately.
- Parameters:
-
None.
- Return values:
-
None.
Implemented in L6474.
virtual void HardStop | ( | void | ) | [pure virtual] |
Stopping the motor through an immediate infinite deceleration.
- Parameters:
-
None.
- Return values:
-
None.
Implemented in L6474.
virtual int Init | ( | void * | init ) | [pure virtual, inherited] |
Initializing the component.
- Parameters:
-
[in] init pointer to device specific initalization structure.
- Return values:
-
0 in case of success, an error code otherwise.
Implemented in L6474.
virtual void Move | ( | direction_t | direction, |
unsigned int | steps | ||
) | [pure virtual] |
Moving the motor towards a specified direction for a certain number of steps.
- Parameters:
-
direction The direction of rotation. steps The desired number of steps.
- Return values:
-
None.
Implemented in L6474.
virtual int ReadID | ( | uint8_t * | id ) | [pure virtual, inherited] |
Getting the ID of the component.
- Parameters:
-
[out] id pointer to an allocated variable to store the ID into.
- Return values:
-
0 in case of success, an error code otherwise.
Implemented in L6474.
virtual void Run | ( | direction_t | direction ) | [pure virtual] |
Running the motor towards a specified direction.
- Parameters:
-
direction The direction of rotation.
- Return values:
-
None.
Implemented in L6474.
virtual void SetAcceleration | ( | unsigned int | acceleration ) | [pure virtual] |
Setting the acceleration in pps^2.
- Parameters:
-
acceleration The acceleration in pps^2.
- Return values:
-
None.
Implemented in L6474.
virtual void SetDeceleration | ( | unsigned int | deceleration ) | [pure virtual] |
Setting the deceleration in pps^2.
- Parameters:
-
deceleration The deceleration in pps^2.
- Return values:
-
None.
Implemented in L6474.
virtual void SetHome | ( | void | ) | [pure virtual] |
Setting the current position to be the home position.
- Parameters:
-
None.
- Return values:
-
None.
Implemented in L6474.
virtual void SetMark | ( | void | ) | [pure virtual] |
Setting the current position to be the marked position.
- Parameters:
-
None.
- Return values:
-
None.
Implemented in L6474.
virtual void SetMaxSpeed | ( | unsigned int | speed ) | [pure virtual] |
Setting the maximum speed in pps.
- Parameters:
-
speed The maximum speed in pps.
- Return values:
-
None.
Implemented in L6474.
virtual void SetMinSpeed | ( | unsigned int | speed ) | [pure virtual] |
Setting the minimum speed in pps.
- Parameters:
-
speed The minimum speed in pps.
- Return values:
-
None.
Implemented in L6474.
virtual void SetParameter | ( | unsigned int | parameter, |
float | value | ||
) | [pure virtual] |
Setting a parameter.
- Parameters:
-
parameter The parameter's identifier (or its register address). value The parameter's value.
- Return values:
-
None.
Implemented in L6474.
virtual void SoftHiZ | ( | void | ) | [pure virtual] |
Disabling the power bridge after performing a deceleration to zero.
- Parameters:
-
None.
- Return values:
-
None.
Implemented in L6474.
virtual void SoftStop | ( | void | ) | [pure virtual] |
Stopping the motor through an immediate deceleration up to zero speed.
- Parameters:
-
None.
- Return values:
-
None.
Implemented in L6474.
virtual void WaitWhileActive | ( | void | ) | [pure virtual] |
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