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StepperMotor.h
00001 /** 00002 ****************************************************************************** 00003 * @file StepperMotor.h 00004 * @author Davide Aliprandi, STMicroelectronics 00005 * @version V1.1.0 00006 * @date April 6th, 2016 00007 * @brief This file contains the abstract class describing the interface of a 00008 * stepper-motor component. 00009 ****************************************************************************** 00010 * @attention 00011 * 00012 * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> 00013 * 00014 * Redistribution and use in source and binary forms, with or without modification, 00015 * are permitted provided that the following conditions are met: 00016 * 1. Redistributions of source code must retain the above copyright notice, 00017 * this list of conditions and the following disclaimer. 00018 * 2. Redistributions in binary form must reproduce the above copyright notice, 00019 * this list of conditions and the following disclaimer in the documentation 00020 * and/or other materials provided with the distribution. 00021 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00022 * may be used to endorse or promote products derived from this software 00023 * without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00028 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00029 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00030 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00031 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00033 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00034 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 ****************************************************************************** 00037 */ 00038 00039 00040 /* Define to prevent from recursive inclusion --------------------------------*/ 00041 00042 #ifndef __STEPPERMOTOR_CLASS_H 00043 #define __STEPPERMOTOR_CLASS_H 00044 00045 00046 /* Includes ------------------------------------------------------------------*/ 00047 00048 #include <Component.h> 00049 00050 00051 /* Classes ------------------------------------------------------------------*/ 00052 00053 /** 00054 * An abstract class for StepperMotor components. 00055 */ 00056 class StepperMotor : public Component { 00057 public: 00058 00059 /** 00060 * @brief Rotation modes. 00061 */ 00062 typedef enum { 00063 BWD = 0, /* Backward. */ 00064 FWD = 1 /* Forward. */ 00065 } direction_t; 00066 00067 /** 00068 * @brief Step modes. 00069 */ 00070 typedef enum { 00071 STEP_MODE_FULL = 0, /* Full-step. */ 00072 STEP_MODE_HALF, /* Half-step. */ 00073 STEP_MODE_1_4, /* 1/4 microstep. */ 00074 STEP_MODE_1_8, /* 1/8 microstep. */ 00075 STEP_MODE_1_16, /* 1/16 microstep. */ 00076 STEP_MODE_1_32, /* 1/32 microstep. */ 00077 STEP_MODE_1_64, /* 1/64 microstep. */ 00078 STEP_MODE_1_128, /* 1/128 microstep. */ 00079 STEP_MODE_1_256, /* 1/256 microstep. */ 00080 STEP_MODE_UNKNOWN, /* Unknown. */ 00081 STEP_MODE_WAVE /* Full-step one-phase-on. */ 00082 } step_mode_t; 00083 00084 /** 00085 * @brief Getting the status. 00086 * @param None. 00087 * @retval The status. 00088 */ 00089 virtual unsigned int get_status(void) = 0; 00090 00091 /** 00092 * @brief Getting the position. 00093 * @param None. 00094 * @retval The position. 00095 */ 00096 virtual signed int get_position(void) = 0; 00097 00098 /** 00099 * @brief Getting the marked position. 00100 * @param None. 00101 * @retval The marked position. 00102 */ 00103 virtual signed int get_mark(void) = 0; 00104 00105 /** 00106 * @brief Getting the current speed in pps. 00107 * @param None. 00108 * @retval The current speed in pps. 00109 */ 00110 virtual unsigned int get_speed(void) = 0; 00111 00112 /** 00113 * @brief Getting the maximum speed in pps. 00114 * @param None. 00115 * @retval The maximum speed in pps. 00116 */ 00117 virtual unsigned int get_max_speed(void) = 0; 00118 00119 /** 00120 * @brief Getting the minimum speed in pps. 00121 * @param None. 00122 * @retval The minimum speed in pps. 00123 */ 00124 virtual unsigned int get_min_speed(void) = 0; 00125 00126 /** 00127 * @brief Getting the acceleration in pps^2. 00128 * @param None. 00129 * @retval The acceleration in pps^2. 00130 */ 00131 virtual unsigned int get_acceleration(void) = 0; 00132 00133 /** 00134 * @brief Getting the deceleration in pps^2. 00135 * @param None. 00136 * @retval The deceleration in pps^2. 00137 */ 00138 virtual unsigned int get_deceleration(void) = 0; 00139 00140 /** 00141 * @brief Getting the direction of rotation. 00142 * @param None. 00143 * @retval The direction of rotation. 00144 */ 00145 virtual direction_t get_direction(void) = 0; 00146 00147 /** 00148 * @brief Setting the current position to be the home position. 00149 * @param None. 00150 * @retval None. 00151 */ 00152 virtual void set_home(void) = 0; 00153 00154 /** 00155 * @brief Setting the current position to be the marked position. 00156 * @param None. 00157 * @retval None. 00158 */ 00159 virtual void set_mark(void) = 0; 00160 00161 /** 00162 * @brief Setting the maximum speed in pps. 00163 * @param speed The maximum speed in pps. 00164 * @retval "true" in case of success, "false" otherwise. 00165 */ 00166 virtual bool set_max_speed(unsigned int speed) = 0; 00167 00168 /** 00169 * @brief Setting the minimum speed in pps. 00170 * @param speed The minimum speed in pps. 00171 * @retval "true" in case of success, "false" otherwise. 00172 */ 00173 virtual bool set_min_speed(unsigned int speed) = 0; 00174 00175 /** 00176 * @brief Setting the acceleration in pps^2. 00177 * @param acceleration The acceleration in pps^2. 00178 * @retval "true" in case of success, "false" otherwise. 00179 */ 00180 virtual bool set_acceleration(unsigned int acceleration) = 0; 00181 00182 /** 00183 * @brief Setting the deceleration in pps^2. 00184 * @param deceleration The deceleration in pps^2. 00185 * @retval "true" in case of success, "false" otherwise. 00186 */ 00187 virtual bool set_deceleration(unsigned int deceleration) = 0; 00188 00189 /** 00190 * @brief Setting the Step Mode. 00191 * @param step_mode The Step Mode. 00192 * @retval "true" in case of success, "false" otherwise. 00193 */ 00194 virtual bool set_step_mode(step_mode_t step_mode) = 0; 00195 00196 /** 00197 * @brief Going to a specified position. 00198 * @param position The desired position. 00199 * @retval None. 00200 */ 00201 virtual void go_to(signed int position) = 0; 00202 00203 /** 00204 * @brief Going to the home position. 00205 * @param None. 00206 * @retval None. 00207 */ 00208 virtual void go_home(void) = 0; 00209 00210 /** 00211 * @brief Going to the marked position. 00212 * @param None. 00213 * @retval None. 00214 */ 00215 virtual void go_mark(void) = 0; 00216 00217 /** 00218 * @brief Running the motor towards a specified direction. 00219 * @param direction The direction of rotation. 00220 * @retval None. 00221 */ 00222 virtual void run(direction_t direction) = 0; 00223 00224 /** 00225 * @brief Moving the motor towards a specified direction for a certain number of steps. 00226 * @param direction The direction of rotation. 00227 * @param steps The desired number of steps. 00228 * @retval None. 00229 */ 00230 virtual void move(direction_t direction, unsigned int steps) = 0; 00231 00232 /** 00233 * @brief Stopping the motor through an immediate deceleration up to zero speed. 00234 * @param None. 00235 * @retval None. 00236 */ 00237 virtual void soft_stop(void) = 0; 00238 00239 /** 00240 * @brief Stopping the motor through an immediate infinite deceleration. 00241 * @param None. 00242 * @retval None. 00243 */ 00244 virtual void hard_stop(void) = 0; 00245 00246 /** 00247 * @brief Disabling the power bridge after performing a deceleration to zero. 00248 * @param None. 00249 * @retval None. 00250 */ 00251 virtual void soft_hiz(void) = 0; 00252 00253 /** 00254 * @brief Disabling the power bridge immediately. 00255 * @param None. 00256 * @retval None. 00257 */ 00258 virtual void hard_hiz(void) = 0; 00259 00260 /** 00261 * @brief Waiting while the motor is active. 00262 * @param None. 00263 * @retval None. 00264 */ 00265 virtual void wait_while_active(void) = 0; 00266 00267 /** 00268 * @brief Destructor. 00269 */ 00270 virtual ~StepperMotor() {}; 00271 }; 00272 00273 #endif /* __STEPPERMOTOR_CLASS_H */ 00274 00275 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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