Motor Control Library

Diff: Components/Interfaces/StepperMotor_class.h

Revision:

0:00a3c3f5a8f0

Child:

1:8ce2a5d6fbf8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/StepperMotor_class.h	Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,291 @@
+/**
+ ******************************************************************************
+ * @file    StepperMotor_class.h
+ * @author  IPC Rennes
+ * @version V1.2.0
+ * @date    March 18th, 2016
+ * @brief   This file contains the abstract class describing the interface of a
+ *          stepper-motor component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __STEPPERMOTOR_CLASS_H
+#define __STEPPERMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component_class.h>
+
+
+/* Classes  ------------------------------------------------------------------*/
+
+/** An abstract class for StepperMotor components.
+ */
+class StepperMotor : public Component
+{
+public:
+    /**
+     * @brief Rotation modes.
+     */
+    typedef enum
+    {
+      BWD = 0, /* Backward. */
+      FWD = 1  /* Forward. */
+    } direction_t;
+
+    /**
+     * @brief  Attaching an error handler.
+     * @param  fptr An error handler.
+     * @retval None.
+     */
+    virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) = 0;
+    
+    /**
+     * @brief  Getting the status.
+     * @param  None.
+     * @retval The status.
+     */
+    virtual unsigned int GetStatus(void) = 0;
+
+    /**
+     * @brief  Getting a parameter in the register format
+     * @param  parameter The parameter's identifier (or its register address).
+     * @retval The parameter's value in the register format (digital value)
+     */
+    virtual unsigned int GetParameter(unsigned int parameter) = 0;
+
+    /**
+     * @brief  Getting a parameter value in float format
+     * @param  parameter The parameter's identifier (or its register address).
+     * @retval The parameter's value in float format (analog value)
+     */
+    virtual float GetAnalogValue(unsigned int parameter) = 0;
+
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
+    virtual signed int GetPosition(void) = 0;
+
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
+    virtual signed int GetMark(void) = 0;
+    
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+    virtual unsigned int GetSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
+    virtual unsigned int GetMaxSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
+    virtual unsigned int GetMinSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
+    virtual unsigned int GetAcceleration(void) = 0;
+
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
+    virtual unsigned int GetDeceleration(void) = 0;
+    
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
+    virtual direction_t GetDirection(void) = 0;
+    
+   /**
+     * @brief  Setting a parameter.
+     * @param  parameter The parameter's identifier (or its register address).
+     * @param  value The parameter's value in the register format (digital value)
+     * @retval None.
+     */
+    virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
+
+   /**
+     * @brief  Setting a parameter.
+     * @param  parameter The parameter's identifier (or its register address).
+     * @param  value The parameter's value in a float format (analog value)
+     * @retval None.
+     */
+    virtual bool SetAnalogValue(unsigned int parameter, float value) = 0;
+
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetHome(void) = 0;
+
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetMark(void) = 0;
+
+    /**
+     * @brief  Setting the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval TRUE if value is valid, FALSE otherwise.
+     */
+    virtual bool SetMaxSpeed(unsigned int speed) = 0;
+
+    /**
+     * @brief  Setting the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval TRUE if value is valid, FALSE otherwise.
+     */
+    virtual bool SetMinSpeed(unsigned int speed) = 0;
+
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval TRUE if value is valid, FALSE otherwise.
+     */
+    virtual bool SetAcceleration(unsigned int speed) = 0;
+
+    /**
+     * @brief  Setting the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval TRUE if value is valid, FALSE otherwise.
+     */
+    virtual bool SetDeceleration(unsigned int speed) = 0;
+   
+    /**
+     * @brief  Setting the Step Mode.
+     * @param  step_mode The Step Mode.
+     * @retval None.
+     */
+    virtual void SetStepMode(motorStepMode_t step_mode) = 0;
+
+    /**
+     * @brief  Going to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     */
+    virtual void GoTo(signed int position) = 0;
+
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoHome(void) = 0;
+
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoMark(void) = 0;
+
+    /**
+     * @brief  Running the motor towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void Run(direction_t direction) = 0;
+
+    /**
+     * @brief  Moving the motor towards a specified direction for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     */
+    virtual void Move(direction_t direction, unsigned int steps) = 0;
+
+    /**
+     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftStop(void) = 0;
+
+    /**
+     * @brief  Stopping the motor through an immediate infinite deceleration.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardStop(void) = 0;
+
+    /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftHiZ(void) = 0;
+
+    /**
+     * @brief  Disabling the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardHiZ(void) = 0;
+
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void WaitWhileActive(void) = 0;
+
+};
+
+#endif /* __STEPPERMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/