Official interfaces for ST components.

Dependents:   X_NUCLEO_IKS01A1 mDot_X_NUCLEO_IKS01A1 53L0A1 X_NUCLEO_IKS01A1 ... more

Fork of ST_INTERFACES by Davide Aliprandi

Embed: (wiki syntax)

« Back to documentation index

StepperMotor Class Reference

StepperMotor Class Reference

An abstract class for StepperMotor components. More...

#include <StepperMotor.h>

Inherits Component.

Public Types

enum  direction_t
 

Rotation modes.

More...
enum  step_mode_t
 

Step modes.

More...

Public Member Functions

virtual unsigned int get_status (void)=0
 Getting the status.
virtual signed int get_position (void)=0
 Getting the position.
virtual signed int get_mark (void)=0
 Getting the marked position.
virtual unsigned int get_speed (void)=0
 Getting the current speed in pps.
virtual unsigned int get_max_speed (void)=0
 Getting the maximum speed in pps.
virtual unsigned int get_min_speed (void)=0
 Getting the minimum speed in pps.
virtual unsigned int get_acceleration (void)=0
 Getting the acceleration in pps^2.
virtual unsigned int get_deceleration (void)=0
 Getting the deceleration in pps^2.
virtual direction_t get_direction (void)=0
 Getting the direction of rotation.
virtual void set_home (void)=0
 Setting the current position to be the home position.
virtual void set_mark (void)=0
 Setting the current position to be the marked position.
virtual bool set_max_speed (unsigned int speed)=0
 Setting the maximum speed in pps.
virtual bool set_min_speed (unsigned int speed)=0
 Setting the minimum speed in pps.
virtual bool set_acceleration (unsigned int acceleration)=0
 Setting the acceleration in pps^2.
virtual bool set_deceleration (unsigned int deceleration)=0
 Setting the deceleration in pps^2.
virtual bool set_step_mode (step_mode_t step_mode)=0
 Setting the Step Mode.
virtual void go_to (signed int position)=0
 Going to a specified position.
virtual void go_home (void)=0
 Going to the home position.
virtual void go_mark (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 soft_stop (void)=0
 Stopping the motor through an immediate deceleration up to zero speed.
virtual void hard_stop (void)=0
 Stopping the motor through an immediate infinite deceleration.
virtual void soft_hiz (void)=0
 Disabling the power bridge after performing a deceleration to zero.
virtual void hard_hiz (void)=0
 Disabling the power bridge immediately.
virtual void wait_while_active (void)=0
 Waiting while the motor is active.
virtual ~StepperMotor ()
 Destructor.
virtual int init (void *init)=0
 Initializing the component.
virtual int read_id (uint8_t *id)=0
 Getting the ID of the component.

Detailed Description

An abstract class for StepperMotor components.

Definition at line 56 of file StepperMotor.h.


Member Enumeration Documentation

Rotation modes.

Definition at line 62 of file StepperMotor.h.

Step modes.

Definition at line 70 of file StepperMotor.h.


Constructor & Destructor Documentation

virtual ~StepperMotor (  ) [virtual]

Destructor.

Definition at line 270 of file StepperMotor.h.


Member Function Documentation

virtual unsigned int get_acceleration ( void   ) [pure virtual]

Getting the acceleration in pps^2.

Parameters:
None.
Return values:
Theacceleration in pps^2.
virtual unsigned int get_deceleration ( void   ) [pure virtual]

Getting the deceleration in pps^2.

Parameters:
None.
Return values:
Thedeceleration in pps^2.
virtual direction_t get_direction ( void   ) [pure virtual]

Getting the direction of rotation.

Parameters:
None.
Return values:
Thedirection of rotation.
virtual signed int get_mark ( void   ) [pure virtual]

Getting the marked position.

Parameters:
None.
Return values:
Themarked position.
virtual unsigned int get_max_speed ( void   ) [pure virtual]

Getting the maximum speed in pps.

Parameters:
None.
Return values:
Themaximum speed in pps.
virtual unsigned int get_min_speed ( void   ) [pure virtual]

Getting the minimum speed in pps.

Parameters:
None.
Return values:
Theminimum speed in pps.
virtual signed int get_position ( void   ) [pure virtual]

Getting the position.

Parameters:
None.
Return values:
Theposition.
virtual unsigned int get_speed ( void   ) [pure virtual]

Getting the current speed in pps.

Parameters:
None.
Return values:
Thecurrent speed in pps.
virtual unsigned int get_status ( void   ) [pure virtual]

Getting the status.

Parameters:
None.
Return values:
Thestatus.
virtual void go_home ( void   ) [pure virtual]

Going to the home position.

Parameters:
None.
Return values:
None.
virtual void go_mark ( void   ) [pure virtual]

Going to the marked position.

Parameters:
None.
Return values:
None.
virtual void go_to ( signed int  position ) [pure virtual]

Going to a specified position.

Parameters:
positionThe desired position.
Return values:
None.
virtual void hard_hiz ( void   ) [pure virtual]

Disabling the power bridge immediately.

Parameters:
None.
Return values:
None.
virtual void hard_stop ( void   ) [pure virtual]

Stopping the motor through an immediate infinite deceleration.

Parameters:
None.
Return values:
None.
virtual int init ( void *  init ) [pure virtual, inherited]

Initializing the component.

Parameters:
[in]initpointer to device specific initalization structure.
Return values:
0in case of success, an error code otherwise.
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:
directionThe direction of rotation.
stepsThe desired number of steps.
Return values:
None.
virtual int read_id ( uint8_t *  id ) [pure virtual, inherited]

Getting the ID of the component.

Parameters:
[out]idpointer to an allocated variable to store the ID into.
Return values:
0in case of success, an error code otherwise.
virtual void run ( direction_t  direction ) [pure virtual]

Running the motor towards a specified direction.

Parameters:
directionThe direction of rotation.
Return values:
None.
virtual bool set_acceleration ( unsigned int  acceleration ) [pure virtual]

Setting the acceleration in pps^2.

Parameters:
accelerationThe acceleration in pps^2.
Return values:
truein case of success, "false" otherwise.
virtual bool set_deceleration ( unsigned int  deceleration ) [pure virtual]

Setting the deceleration in pps^2.

Parameters:
decelerationThe deceleration in pps^2.
Return values:
truein case of success, "false" otherwise.
virtual void set_home ( void   ) [pure virtual]

Setting the current position to be the home position.

Parameters:
None.
Return values:
None.
virtual void set_mark ( void   ) [pure virtual]

Setting the current position to be the marked position.

Parameters:
None.
Return values:
None.
virtual bool set_max_speed ( unsigned int  speed ) [pure virtual]

Setting the maximum speed in pps.

Parameters:
speedThe maximum speed in pps.
Return values:
truein case of success, "false" otherwise.
virtual bool set_min_speed ( unsigned int  speed ) [pure virtual]

Setting the minimum speed in pps.

Parameters:
speedThe minimum speed in pps.
Return values:
truein case of success, "false" otherwise.
virtual bool set_step_mode ( step_mode_t  step_mode ) [pure virtual]

Setting the Step Mode.

Parameters:
step_modeThe Step Mode.
Return values:
truein case of success, "false" otherwise.
virtual void soft_hiz ( void   ) [pure virtual]

Disabling the power bridge after performing a deceleration to zero.

Parameters:
None.
Return values:
None.
virtual void soft_stop ( void   ) [pure virtual]

Stopping the motor through an immediate deceleration up to zero speed.

Parameters:
None.
Return values:
None.
virtual void wait_while_active ( void   ) [pure virtual]

Waiting while the motor is active.

Parameters:
None.
Return values:
None.