TVZ Mechatronics Team / StepperDriver

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

Dependents:   StepperTest

StepperDriver.h

Committer:
tbjazic
Date:
2016-12-01
Revision:
0:12be56dc6182
Child:
1:9888802e71b9

File content as of revision 0:12be56dc6182:

#ifndef STEPPER_DRIVER_H
#define STEPPER_DRIVER_H

#include "mbed.h"

class StepperDriver {
    public:
    StepperDriver(PinName, PinName);
    void setPosition(uint32_t);
    
    private:
    DigitalOut output, direction;
    uint32_t currentPosition, previousPosition, homePosition, minPosition, maxPosition, desiredPosition;
    Ticker ticker;
    Timeout timeout;
    void update();
    void attachTicker();
    void detachTicker();
    void generateImpulse();
    void turnOutputOff();
    bool isTickerAttached;
};

#endif