TVZ Mechatronics Team / StepperDriver

A class for driving a stepper motor via driver with indexer.

Dependents:   StepperTest

StepperDriver.cpp@3:05586e7efd2b, 2018-01-10 (annotated)

Committer:
tbjazic
Date:
Wed Jan 10 14:27:32 2018 +0000
Revision:
3:05586e7efd2b
Parent:
2:70f593d34039 
setSpeedSPS docs @param corrected.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tbjazic 0:12be56dc6182 1 #include "mbed.h"
tbjazic 0:12be56dc6182 2 #include "StepperDriver.h"
tbjazic 0:12be56dc6182 3
tbjazic 0:12be56dc6182 4 StepperDriver::StepperDriver(PinName outputPin, PinName directionPin) : output(outputPin), direction(directionPin) {
tbjazic 0:12be56dc6182 5 currentPosition = previousPosition = desiredPosition = 0;
tbjazic 1:9888802e71b9 6 configure(1.8f, 0, 900);
tbjazic 0:12be56dc6182 7 homePosition = (maxPosition - minPosition) / 2;
tbjazic 2:70f593d34039 8 setSpeedSPS(250);
tbjazic 2:70f593d34039 9 setPulseWidth(100e-6);
tbjazic 0:12be56dc6182 10 }
tbjazic 0:12be56dc6182 11
tbjazic 1:9888802e71b9 12 void StepperDriver::configure(uint32_t resolution, float minDegrees, float maxDegrees) {
tbjazic 1:9888802e71b9 13 setResolution(resolution);
tbjazic 1:9888802e71b9 14 setDegreesRange(minDegrees, maxDegrees);
tbjazic 1:9888802e71b9 15 }
tbjazic 1:9888802e71b9 16
tbjazic 1:9888802e71b9 17 void StepperDriver::configure(float resolution, float minDegrees, float maxDegrees) {
tbjazic 1:9888802e71b9 18 setResolution(resolution);
tbjazic 1:9888802e71b9 19 setDegreesRange(minDegrees, maxDegrees);
tbjazic 1:9888802e71b9 20 }
tbjazic 1:9888802e71b9 21
tbjazic 1:9888802e71b9 22 void StepperDriver::setPosition(float desiredDegrees) {
tbjazic 1:9888802e71b9 23 uint32_t position = desiredDegrees / degreesPerStep + 0.5f; // rounding
tbjazic 0:12be56dc6182 24 if (position >= minPosition && position <= maxPosition) {
tbjazic 0:12be56dc6182 25 desiredPosition = position;
tbjazic 0:12be56dc6182 26 }
tbjazic 0:12be56dc6182 27 if (desiredPosition != currentPosition && !isTickerAttached) {
tbjazic 0:12be56dc6182 28 attachTicker();
tbjazic 0:12be56dc6182 29 }
tbjazic 0:12be56dc6182 30 }
tbjazic 0:12be56dc6182 31
tbjazic 1:9888802e71b9 32 float StepperDriver::getPosition() {
tbjazic 1:9888802e71b9 33 return currentPosition * degreesPerStep;
tbjazic 1:9888802e71b9 34 }
tbjazic 1:9888802e71b9 35
tbjazic 0:12be56dc6182 36 void StepperDriver::update() {
tbjazic 0:12be56dc6182 37 if (desiredPosition > currentPosition) {
tbjazic 0:12be56dc6182 38 direction = 1;
tbjazic 0:12be56dc6182 39 currentPosition++;
tbjazic 0:12be56dc6182 40 generateImpulse();
tbjazic 0:12be56dc6182 41 } else if (desiredPosition < currentPosition) {
tbjazic 0:12be56dc6182 42 direction = 0;
tbjazic 0:12be56dc6182 43 currentPosition--;
tbjazic 0:12be56dc6182 44 generateImpulse();
tbjazic 0:12be56dc6182 45 } else {
tbjazic 0:12be56dc6182 46 detachTicker();
tbjazic 0:12be56dc6182 47 }
tbjazic 0:12be56dc6182 48 previousPosition = currentPosition;
tbjazic 0:12be56dc6182 49 }
tbjazic 0:12be56dc6182 50
tbjazic 0:12be56dc6182 51 void StepperDriver::attachTicker() {
tbjazic 1:9888802e71b9 52 ticker.attach(this, &StepperDriver::update, 1/speed);
tbjazic 0:12be56dc6182 53 isTickerAttached = true;
tbjazic 0:12be56dc6182 54 }
tbjazic 0:12be56dc6182 55
tbjazic 0:12be56dc6182 56 void StepperDriver::detachTicker() {
tbjazic 0:12be56dc6182 57 ticker.detach();
tbjazic 0:12be56dc6182 58 isTickerAttached = false;
tbjazic 0:12be56dc6182 59 }
tbjazic 0:12be56dc6182 60
tbjazic 0:12be56dc6182 61 void StepperDriver::generateImpulse() {
tbjazic 0:12be56dc6182 62 output = 1;
tbjazic 1:9888802e71b9 63 timeout.attach(this, &StepperDriver::turnOutputOff, pulseWidth);
tbjazic 0:12be56dc6182 64 }
tbjazic 0:12be56dc6182 65
tbjazic 0:12be56dc6182 66 void StepperDriver::turnOutputOff() {
tbjazic 0:12be56dc6182 67 output = 0;
tbjazic 1:9888802e71b9 68 }
tbjazic 1:9888802e71b9 69
tbjazic 1:9888802e71b9 70 void StepperDriver::setResolution(uint32_t resolution) {
tbjazic 1:9888802e71b9 71 degreesPerStep = 360.0f / resolution;
tbjazic 1:9888802e71b9 72 }
tbjazic 1:9888802e71b9 73
tbjazic 1:9888802e71b9 74 void StepperDriver::setResolution(float resolution) {
tbjazic 1:9888802e71b9 75 degreesPerStep = resolution;
tbjazic 1:9888802e71b9 76 }
tbjazic 1:9888802e71b9 77
tbjazic 1:9888802e71b9 78 void StepperDriver::setDegreesRange(float minDegrees, float maxDegrees) {
tbjazic 1:9888802e71b9 79 minPosition = 0;
tbjazic 1:9888802e71b9 80 maxPosition = minPosition + 1/degreesPerStep * (maxDegrees - minDegrees);
tbjazic 1:9888802e71b9 81 }
tbjazic 1:9888802e71b9 82
tbjazic 1:9888802e71b9 83 void StepperDriver::setSpeedSPS(float speedSPS) {
tbjazic 1:9888802e71b9 84 speed = speedSPS;
tbjazic 1:9888802e71b9 85 }
tbjazic 1:9888802e71b9 86
tbjazic 1:9888802e71b9 87 void StepperDriver::setSpeedRPS(float speedRPS) {
tbjazic 1:9888802e71b9 88 speed = speedRPS * 360 / degreesPerStep;
tbjazic 1:9888802e71b9 89 }
tbjazic 1:9888802e71b9 90
tbjazic 1:9888802e71b9 91 void StepperDriver::setSpeedRPM(float speedRPM) {
tbjazic 1:9888802e71b9 92 speed = speedRPM / 60 * 360 / degreesPerStep;
tbjazic 1:9888802e71b9 93 }
tbjazic 1:9888802e71b9 94
tbjazic 1:9888802e71b9 95 float StepperDriver::getSpeedSPS() {
tbjazic 1:9888802e71b9 96 return speed;
tbjazic 1:9888802e71b9 97 }
tbjazic 1:9888802e71b9 98
tbjazic 1:9888802e71b9 99 float StepperDriver::getSpeedRPS() {
tbjazic 1:9888802e71b9 100 return speed * degreesPerStep / 360;
tbjazic 1:9888802e71b9 101 }
tbjazic 1:9888802e71b9 102
tbjazic 1:9888802e71b9 103 float StepperDriver::getSpeedRPM() {
tbjazic 1:9888802e71b9 104 return speed * degreesPerStep / 360 * 60;
tbjazic 2:70f593d34039 105 }
tbjazic 2:70f593d34039 106
tbjazic 2:70f593d34039 107 void StepperDriver::setPulseWidth(float pulseWidth) {
tbjazic 2:70f593d34039 108 if (pulseWidth > 0) {
tbjazic 2:70f593d34039 109 this->pulseWidth = pulseWidth;
tbjazic 2:70f593d34039 110 }
tbjazic 0:12be56dc6182 111 }