aircord / Mbed 2 deprecated dmx_to_stepper

test2017-1-13

Dependencies:   AT24C1024 DMX-STM32 mbed

AccelStepper.h@8:2e68b9de685d, 2017-07-28 (annotated)

Committer:
tomo370
Date:
Fri Jul 28 04:44:42 2017 +0000
Revision:
8:2e68b9de685d
Parent:
4:c3f3fdde7eee 
2017_07_28ver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tomo370 0:d94213e24c2e 1 // AccelStepper.h
tomo370 0:d94213e24c2e 2 //
tomo370 0:d94213e24c2e 3 /// \mainpage AccelStepper library for MBED
tomo370 0:d94213e24c2e 4 ///
tomo370 0:d94213e24c2e 5 /// This is the MBED AccelStepper library.
tomo370 0:d94213e24c2e 6 /// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors.
tomo370 0:d94213e24c2e 7 /// Based on the Arduino AccelStepper library by Airspayce.com
tomo370 0:d94213e24c2e 8 /// Translated for MBED by Jaap Vermaas <jaap@tuxic.nl>, 03-2015
tomo370 0:d94213e24c2e 9 ///
tomo370 0:d94213e24c2e 10 /// The standard Arduino IDE includes the Stepper library
tomo370 0:d94213e24c2e 11 /// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
tomo370 0:d94213e24c2e 12 /// perfectly adequate for simple, single motor applications.
tomo370 0:d94213e24c2e 13 ///
tomo370 0:d94213e24c2e 14 /// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
tomo370 0:d94213e24c2e 15 /// \li Supports acceleration and deceleration
tomo370 0:d94213e24c2e 16 /// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
tomo370 0:d94213e24c2e 17 /// \li API functions never delay() or block
tomo370 0:d94213e24c2e 18 /// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
tomo370 0:d94213e24c2e 19 /// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
tomo370 0:d94213e24c2e 20 /// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
tomo370 0:d94213e24c2e 21 /// \li Very slow speeds are supported
tomo370 0:d94213e24c2e 22 /// \li Extensive API
tomo370 0:d94213e24c2e 23 /// \li Subclass support
tomo370 0:d94213e24c2e 24 ///
tomo370 4:c3f3fdde7eee 25 /// The latest version of this documentation can be downloaded from
tomo370 0:d94213e24c2e 26 /// http://www.airspayce.com/mikem/arduino/AccelStepper
tomo370 4:c3f3fdde7eee 27 /// The version of the package that this documentation refers to can be downloaded
tomo370 0:d94213e24c2e 28 /// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip
tomo370 0:d94213e24c2e 29 ///
tomo370 0:d94213e24c2e 30 /// Example Arduino programs are included to show the main modes of use.
tomo370 0:d94213e24c2e 31 ///
tomo370 0:d94213e24c2e 32 /// You can also find online help and discussion at http://groups.google.com/group/accelstepper
tomo370 4:c3f3fdde7eee 33 /// Please use that group for all questions and discussions on this topic.
tomo370 0:d94213e24c2e 34 /// Do not contact the author directly, unless it is to discuss commercial licensing.
tomo370 0:d94213e24c2e 35 /// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
tomo370 0:d94213e24c2e 36 ///
tomo370 4:c3f3fdde7eee 37 /// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
tomo370 0:d94213e24c2e 38 /// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
tomo370 0:d94213e24c2e 39 /// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
tomo370 4:c3f3fdde7eee 40 /// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with
tomo370 0:d94213e24c2e 41 /// teensyduino addon 1.18 and later.
tomo370 0:d94213e24c2e 42 ///
tomo370 0:d94213e24c2e 43 /// \par Installation
tomo370 0:d94213e24c2e 44 ///
tomo370 0:d94213e24c2e 45 /// Install in the usual way: unzip the distribution zip file to the libraries
tomo370 4:c3f3fdde7eee 46 /// sub-folder of your sketchbook.
tomo370 0:d94213e24c2e 47 ///
tomo370 0:d94213e24c2e 48 /// \par Theory
tomo370 0:d94213e24c2e 49 ///
tomo370 4:c3f3fdde7eee 50 /// This code uses speed calculations as described in
tomo370 4:c3f3fdde7eee 51 /// "Generate stepper-motor speed profiles in real time" by David Austin
tomo370 0:d94213e24c2e 52 /// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
tomo370 0:d94213e24c2e 53 /// with the exception that AccelStepper uses steps per second rather than radians per second
tomo370 0:d94213e24c2e 54 /// (because we dont know the step angle of the motor)
tomo370 0:d94213e24c2e 55 /// An initial step interval is calculated for the first step, based on the desired acceleration
tomo370 4:c3f3fdde7eee 56 /// On subsequent steps, shorter step intervals are calculated based
tomo370 0:d94213e24c2e 57 /// on the previous step until max speed is achieved.
tomo370 4:c3f3fdde7eee 58 ///
tomo370 0:d94213e24c2e 59 /// \par Donations
tomo370 0:d94213e24c2e 60 ///
tomo370 4:c3f3fdde7eee 61 /// This library is offered under a free GPL license for those who want to use it that way.
tomo370 0:d94213e24c2e 62 /// We try hard to keep it up to date, fix bugs
tomo370 0:d94213e24c2e 63 /// and to provide free support. If this library has helped you save time or money, please consider donating at
tomo370 0:d94213e24c2e 64 /// http://www.airspayce.com or here:
tomo370 0:d94213e24c2e 65 ///
tomo370 0:d94213e24c2e 66 /// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
tomo370 4:c3f3fdde7eee 67 ///
tomo370 0:d94213e24c2e 68 /// \par Trademarks
tomo370 0:d94213e24c2e 69 ///
tomo370 0:d94213e24c2e 70 /// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
tomo370 0:d94213e24c2e 71 /// international trade, and is used only in relation to motor control hardware and software.
tomo370 0:d94213e24c2e 72 /// It is not to be confused with any other similar marks covering other goods and services.
tomo370 0:d94213e24c2e 73 ///
tomo370 0:d94213e24c2e 74 /// \par Copyright
tomo370 0:d94213e24c2e 75 ///
tomo370 0:d94213e24c2e 76 /// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
tomo370 0:d94213e24c2e 77 /// conditions. The main licensing options available are GPL V2 or Commercial:
tomo370 0:d94213e24c2e 78 ///
tomo370 0:d94213e24c2e 79 /// \par Open Source Licensing GPL V2
tomo370 0:d94213e24c2e 80 /// This is the appropriate option if you want to share the source code of your
tomo370 0:d94213e24c2e 81 /// application with everyone you distribute it to, and you also want to give them
tomo370 0:d94213e24c2e 82 /// the right to share who uses it. If you wish to use this software under Open
tomo370 0:d94213e24c2e 83 /// Source Licensing, you must contribute all your source code to the open source
tomo370 0:d94213e24c2e 84 /// community in accordance with the GPL Version 2 when your application is
tomo370 0:d94213e24c2e 85 /// distributed. See http://www.gnu.org/copyleft/gpl.html
tomo370 4:c3f3fdde7eee 86 ///
tomo370 0:d94213e24c2e 87 /// \par Commercial Licensing
tomo370 0:d94213e24c2e 88 /// This is the appropriate option if you are creating proprietary applications
tomo370 0:d94213e24c2e 89 /// and you are not prepared to distribute and share the source code of your
tomo370 0:d94213e24c2e 90 /// application. Contact info@airspayce.com for details.
tomo370 0:d94213e24c2e 91 ///
tomo370 0:d94213e24c2e 92 /// \par Revision History
tomo370 0:d94213e24c2e 93 /// \version 1.0 Initial release
tomo370 0:d94213e24c2e 94 ///
tomo370 0:d94213e24c2e 95 /// \version 1.1 Added speed() function to get the current speed.
tomo370 0:d94213e24c2e 96 /// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
tomo370 0:d94213e24c2e 97 /// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
tomo370 0:d94213e24c2e 98 /// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
tomo370 0:d94213e24c2e 99 /// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
tomo370 0:d94213e24c2e 100 /// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
tomo370 4:c3f3fdde7eee 101 /// Added checks for already running at max speed and skip further calcs if so.
tomo370 4:c3f3fdde7eee 102 /// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang.
tomo370 0:d94213e24c2e 103 /// Reported by Sandy Noble.
tomo370 0:d94213e24c2e 104 /// Removed redundant _lastRunTime member.
tomo370 4:c3f3fdde7eee 105 /// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected.
tomo370 0:d94213e24c2e 106 /// Reported by Peter Linhart.
tomo370 0:d94213e24c2e 107 /// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
tomo370 0:d94213e24c2e 108 /// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
tomo370 0:d94213e24c2e 109 /// \version 1.10 Builds on Arduino 1.0
tomo370 0:d94213e24c2e 110 /// \version 1.11 Improvments from Michael Ellison:
tomo370 0:d94213e24c2e 111 /// Added optional enable line support for stepper drivers
tomo370 0:d94213e24c2e 112 /// Added inversion for step/direction/enable lines for stepper drivers
tomo370 0:d94213e24c2e 113 /// \version 1.12 Announce Google Group
tomo370 4:c3f3fdde7eee 114 /// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case,
tomo370 0:d94213e24c2e 115 /// and more or less constant in all cases. This should result in slightly beter high speed performance, and
tomo370 4:c3f3fdde7eee 116 /// reduce anomalous speed glitches when other steppers are accelerating.
tomo370 0:d94213e24c2e 117 /// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
tomo370 0:d94213e24c2e 118 /// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
tomo370 0:d94213e24c2e 119 /// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
tomo370 0:d94213e24c2e 120 /// running backwards to a smaller target position. Added examples
tomo370 0:d94213e24c2e 121 /// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
tomo370 0:d94213e24c2e 122 /// \version 1.17 Added example ProportionalControl
tomo370 4:c3f3fdde7eee 123 /// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps
tomo370 0:d94213e24c2e 124 /// without counting. reported by Friedrich, Klappenbach.
tomo370 0:d94213e24c2e 125 /// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
tomo370 0:d94213e24c2e 126 /// for the motor interface. Updated examples to suit.
tomo370 0:d94213e24c2e 127 /// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
tomo370 0:d94213e24c2e 128 /// _pins member changed to _interface.
tomo370 0:d94213e24c2e 129 /// Added _pinInverted array to simplify pin inversion operations.
tomo370 0:d94213e24c2e 130 /// Added new function setOutputPins() which sets the motor output pins.
tomo370 0:d94213e24c2e 131 /// It can be overridden in order to provide, say, serial output instead of parallel output
tomo370 0:d94213e24c2e 132 /// Some refactoring and code size reduction.
tomo370 0:d94213e24c2e 133 /// \version 1.20 Improved documentation and examples to show need for correctly
tomo370 0:d94213e24c2e 134 /// specifying AccelStepper::FULL4WIRE and friends.
tomo370 0:d94213e24c2e 135 /// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
tomo370 0:d94213e24c2e 136 /// when _speed was small but non-zero. Reported by Brian Schmalz.
tomo370 0:d94213e24c2e 137 /// Precompute sqrt_twoa to improve performance and max possible stepping speed
tomo370 0:d94213e24c2e 138 /// \version 1.22 Added Bounce.pde example
tomo370 4:c3f3fdde7eee 139 /// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more
tomo370 0:d94213e24c2e 140 /// frequently than the step time, even
tomo370 4:c3f3fdde7eee 141 /// with the same values, would interfere with speed calcs. Now a new speed is computed
tomo370 0:d94213e24c2e 142 /// only if there was a change in the set value. Reported by Brian Schmalz.
tomo370 4:c3f3fdde7eee 143 /// \version 1.23 Rewrite of the speed algorithms in line with
tomo370 0:d94213e24c2e 144 /// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
tomo370 0:d94213e24c2e 145 /// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
tomo370 0:d94213e24c2e 146 /// function was removed.
tomo370 0:d94213e24c2e 147 /// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned
tomo370 0:d94213e24c2e 148 /// \version 1.25 Now ignore attempts to set acceleration to 0.0
tomo370 0:d94213e24c2e 149 /// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause
tomo370 0:d94213e24c2e 150 /// oscillation about the target position.
tomo370 0:d94213e24c2e 151 /// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters.
tomo370 0:d94213e24c2e 152 /// Also added new Quickstop example showing its use.
tomo370 0:d94213e24c2e 153 /// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause
tomo370 0:d94213e24c2e 154 /// oscillation about the target position.
tomo370 0:d94213e24c2e 155 /// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
tomo370 0:d94213e24c2e 156 /// Contributed by Yuri Ivatchkovitch.
tomo370 0:d94213e24c2e 157 /// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step
tomo370 0:d94213e24c2e 158 /// with some sketches. Reported by Vadim.
tomo370 0:d94213e24c2e 159 /// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of
tomo370 0:d94213e24c2e 160 /// accelerated travel with certain speeds. Reported and patched by jolo.
tomo370 0:d94213e24c2e 161 /// \version 1.31 Updated author and distribution location details to airspayce.com
tomo370 0:d94213e24c2e 162 /// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
tomo370 0:d94213e24c2e 163 /// prevented the enable pin changing stae correctly. Reported by Duane Bishop.
tomo370 0:d94213e24c2e 164 /// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
tomo370 0:d94213e24c2e 165 /// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
tomo370 0:d94213e24c2e 166 /// Unfortunately this meant changing the signature for all step*() functions.
tomo370 0:d94213e24c2e 167 /// Added example MotorShield, showing how to use AdaFruit Motor Shield to control
tomo370 0:d94213e24c2e 168 /// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
tomo370 4:c3f3fdde7eee 169 /// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
tomo370 0:d94213e24c2e 170 /// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
tomo370 4:c3f3fdde7eee 171 /// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with
tomo370 0:d94213e24c2e 172 /// setPinsInverted(bool, bool, bool). Reported by Mac Mac.
tomo370 0:d94213e24c2e 173 /// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
tomo370 4:c3f3fdde7eee 174 /// Added new optional argument 'enable' to constructor, which allows you toi disable the
tomo370 0:d94213e24c2e 175 /// automatic enabling of outputs at construction time. Suggested by Guido.
tomo370 4:c3f3fdde7eee 176 /// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the
tomo370 0:d94213e24c2e 177 /// wrong direction (or not,
tomo370 4:c3f3fdde7eee 178 /// depending on the setup-time requirements of the connected hardware).
tomo370 0:d94213e24c2e 179 /// Reported by Mark Tillotson.
tomo370 4:c3f3fdde7eee 180 /// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
tomo370 0:d94213e24c2e 181 /// if the motor is still running to the target position.
tomo370 0:d94213e24c2e 182 /// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
tomo370 0:d94213e24c2e 183 /// \version 1.40 Updated documentation, including testing on Teensy 3.1
tomo370 0:d94213e24c2e 184 /// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
tomo370 0:d94213e24c2e 185 /// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
tomo370 0:d94213e24c2e 186 /// contribution but did not make it into production.<br>
tomo370 4:c3f3fdde7eee 187 /// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
tomo370 0:d94213e24c2e 188 /// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
tomo370 0:d94213e24c2e 189 /// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
tomo370 0:d94213e24c2e 190 /// was missing from the distribution.<br>
tomo370 0:d94213e24c2e 191 /// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
tomo370 0:d94213e24c2e 192 /// acceleration. Reported by Michael Newman.<br>
tomo370 0:d94213e24c2e 193 /// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
tomo370 0:d94213e24c2e 194 /// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
tomo370 0:d94213e24c2e 195 /// \version 1.46 Fixed error in documentation for runToPosition().
tomo370 4:c3f3fdde7eee 196 /// Reinstated time calculations in runSpeed() since new version is reported
tomo370 0:d94213e24c2e 197 /// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
tomo370 0:d94213e24c2e 198
tomo370 0:d94213e24c2e 199 ///
tomo370 0:d94213e24c2e 200 /// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
tomo370 0:d94213e24c2e 201 // Copyright (C) 2009-2013 Mike McCauley
tomo370 0:d94213e24c2e 202 // $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
tomo370 0:d94213e24c2e 203
tomo370 0:d94213e24c2e 204 #ifndef AccelStepper_h
tomo370 0:d94213e24c2e 205 #define AccelStepper_h
tomo370 0:d94213e24c2e 206
tomo370 0:d94213e24c2e 207 #include <stdlib.h>
tomo370 0:d94213e24c2e 208 #include <mbed.h>
tomo370 0:d94213e24c2e 209 #define max(a,b) (((a) > (b)) ? (a) : (b))
tomo370 0:d94213e24c2e 210 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
tomo370 0:d94213e24c2e 211 #define LOW false
tomo370 0:d94213e24c2e 212 #define HIGH true
tomo370 0:d94213e24c2e 213 //#if ARDUINO >= 100
tomo370 0:d94213e24c2e 214 //#include <Arduino.h>
tomo370 0:d94213e24c2e 215 //#else
tomo370 0:d94213e24c2e 216 //#include <WProgram.h>
tomo370 0:d94213e24c2e 217 //#include <wiring.h>
tomo370 0:d94213e24c2e 218 //#endif
tomo370 0:d94213e24c2e 219
tomo370 0:d94213e24c2e 220 // These defs cause trouble on some versions of Arduino
tomo370 0:d94213e24c2e 221 #undef round
tomo370 0:d94213e24c2e 222
tomo370 0:d94213e24c2e 223 /////////////////////////////////////////////////////////////////////
tomo370 0:d94213e24c2e 224 /// \class AccelStepper AccelStepper.h <AccelStepper.h>
tomo370 0:d94213e24c2e 225 /// \brief Support for stepper motors with acceleration etc.
tomo370 0:d94213e24c2e 226 ///
tomo370 0:d94213e24c2e 227 /// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
tomo370 0:d94213e24c2e 228 /// acceleration, deceleration, absolute positioning commands etc. Multiple
tomo370 4:c3f3fdde7eee 229 /// simultaneous steppers are supported, all moving
tomo370 4:c3f3fdde7eee 230 /// at different speeds and accelerations.
tomo370 0:d94213e24c2e 231 ///
tomo370 0:d94213e24c2e 232 /// \par Operation
tomo370 0:d94213e24c2e 233 /// This module operates by computing a step time in microseconds. The step
tomo370 0:d94213e24c2e 234 /// time is recomputed after each step and after speed and acceleration
tomo370 0:d94213e24c2e 235 /// parameters are changed by the caller. The time of each step is recorded in
tomo370 0:d94213e24c2e 236 /// microseconds. The run() function steps the motor once if a new step is due.
tomo370 0:d94213e24c2e 237 /// The run() function must be called frequently until the motor is in the
tomo370 0:d94213e24c2e 238 /// desired position, after which time run() will do nothing.
tomo370 0:d94213e24c2e 239 ///
tomo370 0:d94213e24c2e 240 /// \par Positioning
tomo370 0:d94213e24c2e 241 /// Positions are specified by a signed long integer. At
tomo370 0:d94213e24c2e 242 /// construction time, the current position of the motor is consider to be 0. Positive
tomo370 0:d94213e24c2e 243 /// positions are clockwise from the initial position; negative positions are
tomo370 0:d94213e24c2e 244 /// anticlockwise. The current position can be altered for instance after
tomo370 0:d94213e24c2e 245 /// initialization positioning.
tomo370 0:d94213e24c2e 246 ///
tomo370 0:d94213e24c2e 247 /// \par Caveats
tomo370 0:d94213e24c2e 248 /// This is an open loop controller: If the motor stalls or is oversped,
tomo370 4:c3f3fdde7eee 249 /// AccelStepper will not have a correct
tomo370 0:d94213e24c2e 250 /// idea of where the motor really is (since there is no feedback of the motor's
tomo370 0:d94213e24c2e 251 /// real position. We only know where we _think_ it is, relative to the
tomo370 0:d94213e24c2e 252 /// initial starting point).
tomo370 0:d94213e24c2e 253 ///
tomo370 0:d94213e24c2e 254 /// \par Performance
tomo370 0:d94213e24c2e 255 /// The fastest motor speed that can be reliably supported is about 4000 steps per
tomo370 4:c3f3fdde7eee 256 /// second at a clock frequency of 16 MHz on Arduino such as Uno etc.
tomo370 4:c3f3fdde7eee 257 /// Faster processors can support faster stepping speeds.
tomo370 0:d94213e24c2e 258 /// However, any speed less than that
tomo370 0:d94213e24c2e 259 /// down to very slow speeds (much less than one per second) are also supported,
tomo370 0:d94213e24c2e 260 /// provided the run() function is called frequently enough to step the motor
tomo370 0:d94213e24c2e 261 /// whenever required for the speed set.
tomo370 0:d94213e24c2e 262 /// Calling setAcceleration() is expensive,
tomo370 0:d94213e24c2e 263 /// since it requires a square root to be calculated.
tomo370 0:d94213e24c2e 264 class AccelStepper
tomo370 0:d94213e24c2e 265 {
tomo370 0:d94213e24c2e 266 public:
tomo370 0:d94213e24c2e 267 /// \brief Symbolic names for number of pins.
tomo370 4:c3f3fdde7eee 268 /// Use this in the pins argument the AccelStepper constructor to
tomo370 0:d94213e24c2e 269 /// provide a symbolic name for the number of pins
tomo370 0:d94213e24c2e 270 /// to use.
tomo370 4:c3f3fdde7eee 271 typedef enum {
tomo370 4:c3f3fdde7eee 272 FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
tomo370 4:c3f3fdde7eee 273 DRIVER = 1, ///< Stepper Driver, 2 driver pins required
tomo370 4:c3f3fdde7eee 274 FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
tomo370 4:c3f3fdde7eee 275 FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
tomo370 0:d94213e24c2e 276 FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
tomo370 4:c3f3fdde7eee 277 HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
tomo370 4:c3f3fdde7eee 278 HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required
tomo370 0:d94213e24c2e 279 } MotorInterfaceType;
tomo370 0:d94213e24c2e 280
tomo370 0:d94213e24c2e 281 /// Constructor. You can have multiple simultaneous steppers, all moving
tomo370 0:d94213e24c2e 282 /// at different speeds and accelerations, provided you call their run()
tomo370 0:d94213e24c2e 283 /// functions at frequent enough intervals. Current Position is set to 0, target
tomo370 0:d94213e24c2e 284 /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
tomo370 0:d94213e24c2e 285 /// The motor pins will be initialised to OUTPUT mode during the
tomo370 0:d94213e24c2e 286 /// constructor by a call to enableOutputs().
tomo370 0:d94213e24c2e 287 /// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are
tomo370 4:c3f3fdde7eee 288 /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names.
tomo370 0:d94213e24c2e 289 /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
tomo370 0:d94213e24c2e 290 /// If an enable line is also needed, call setEnablePin() after construction.
tomo370 0:d94213e24c2e 291 /// You may also invert the pins using setPinsInverted().
tomo370 4:c3f3fdde7eee 292 /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required).
tomo370 4:c3f3fdde7eee 293 /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required).
tomo370 4:c3f3fdde7eee 294 /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required).
tomo370 0:d94213e24c2e 295 /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
tomo370 0:d94213e24c2e 296 /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
tomo370 0:d94213e24c2e 297 /// Defaults to AccelStepper::FULL4WIRE (4) pins.
tomo370 0:d94213e24c2e 298 /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
tomo370 4:c3f3fdde7eee 299 /// to pin 2. For a AccelStepper::DRIVER (interface==1),
tomo370 0:d94213e24c2e 300 /// this is the Step input to the driver. Low to high transition means to step)
tomo370 0:d94213e24c2e 301 /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
tomo370 4:c3f3fdde7eee 302 /// to pin 3. For a AccelStepper::DRIVER (interface==1),
tomo370 0:d94213e24c2e 303 /// this is the Direction input the driver. High means forward.
tomo370 0:d94213e24c2e 304 /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
tomo370 0:d94213e24c2e 305 /// to pin 4.
tomo370 0:d94213e24c2e 306 /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
tomo370 0:d94213e24c2e 307 /// to pin 5.
tomo370 0:d94213e24c2e 308 /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
tomo370 0:d94213e24c2e 309 /// the output pins at construction time.
tomo370 0:d94213e24c2e 310 // AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
tomo370 4:c3f3fdde7eee 311 AccelStepper(uint8_t interface, PinName pin1 = LED1, PinName pin2 = LED2, PinName pin3 = LED3, PinName pin4 = LED4, bool enable = true);
tomo370 0:d94213e24c2e 312
tomo370 4:c3f3fdde7eee 313 /// Alternate Constructor which will call your own functions for forward and backward steps.
tomo370 0:d94213e24c2e 314 /// You can have multiple simultaneous steppers, all moving
tomo370 0:d94213e24c2e 315 /// at different speeds and accelerations, provided you call their run()
tomo370 0:d94213e24c2e 316 /// functions at frequent enough intervals. Current Position is set to 0, target
tomo370 0:d94213e24c2e 317 /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
tomo370 0:d94213e24c2e 318 /// Any motor initialization should happen before hand, no pins are used or initialized.
tomo370 0:d94213e24c2e 319 /// \param[in] forward void-returning procedure that will make a forward step
tomo370 0:d94213e24c2e 320 /// \param[in] backward void-returning procedure that will make a backward step
tomo370 0:d94213e24c2e 321 AccelStepper(void (*forward)(), void (*backward)());
tomo370 4:c3f3fdde7eee 322
tomo370 0:d94213e24c2e 323 /// Set the target position. The run() function will try to move the motor (at most one step per call)
tomo370 0:d94213e24c2e 324 /// from the current position to the target position set by the most
tomo370 4:c3f3fdde7eee 325 /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step.
tomo370 0:d94213e24c2e 326 /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
tomo370 0:d94213e24c2e 327 /// \param[in] absolute The desired absolute position. Negative is
tomo370 0:d94213e24c2e 328 /// anticlockwise from the 0 position.
tomo370 4:c3f3fdde7eee 329 void moveTo(long absolute);
tomo370 4:c3f3fdde7eee 330
tomo370 4:c3f3fdde7eee 331 void newSpeed();
tomo370 0:d94213e24c2e 332
tomo370 0:d94213e24c2e 333 /// Set the target position relative to the current position
tomo370 0:d94213e24c2e 334 /// \param[in] relative The desired position relative to the current position. Negative is
tomo370 0:d94213e24c2e 335 /// anticlockwise from the current position.
tomo370 0:d94213e24c2e 336 void move(long relative);
tomo370 0:d94213e24c2e 337
tomo370 0:d94213e24c2e 338 /// Poll the motor and step it if a step is due, implementing
tomo370 0:d94213e24c2e 339 /// accelerations and decelerations to acheive the target position. You must call this as
tomo370 0:d94213e24c2e 340 /// frequently as possible, but at least once per minimum step time interval,
tomo370 0:d94213e24c2e 341 /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
tomo370 0:d94213e24c2e 342 /// based on the current speed and the time since the last step.
tomo370 0:d94213e24c2e 343 /// \return true if the motor is still running to the target position.
tomo370 0:d94213e24c2e 344 bool run();
tomo370 0:d94213e24c2e 345
tomo370 0:d94213e24c2e 346 /// Poll the motor and step it if a step is due, implementing a constant
tomo370 0:d94213e24c2e 347 /// speed as set by the most recent call to setSpeed(). You must call this as
tomo370 0:d94213e24c2e 348 /// frequently as possible, but at least once per step interval,
tomo370 0:d94213e24c2e 349 /// \return true if the motor was stepped.
tomo370 0:d94213e24c2e 350 bool runSpeed();
tomo370 0:d94213e24c2e 351
tomo370 0:d94213e24c2e 352 /// Sets the maximum permitted speed. The run() function will accelerate
tomo370 0:d94213e24c2e 353 /// up to the speed set by this function.
tomo370 0:d94213e24c2e 354 /// Caution: the maximum speed achievable depends on your processor and clock speed.
tomo370 0:d94213e24c2e 355 /// \param[in] speed The desired maximum speed in steps per second. Must
tomo370 0:d94213e24c2e 356 /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
tomo370 0:d94213e24c2e 357 /// Result in non-linear accelerations and decelerations.
tomo370 0:d94213e24c2e 358 void setMaxSpeed(float speed);
tomo370 0:d94213e24c2e 359
tomo370 0:d94213e24c2e 360 /// Sets the acceleration/deceleration rate.
tomo370 0:d94213e24c2e 361 /// \param[in] acceleration The desired acceleration in steps per second
tomo370 4:c3f3fdde7eee 362 /// per second. Must be > 0.0. This is an expensive call since it requires a square
tomo370 0:d94213e24c2e 363 /// root to be calculated. Dont call more ofthen than needed
tomo370 0:d94213e24c2e 364 void setAcceleration(float acceleration);
tomo370 0:d94213e24c2e 365
tomo370 0:d94213e24c2e 366 /// Sets the desired constant speed for use with runSpeed().
tomo370 0:d94213e24c2e 367 /// \param[in] speed The desired constant speed in steps per
tomo370 0:d94213e24c2e 368 /// second. Positive is clockwise. Speeds of more than 1000 steps per
tomo370 0:d94213e24c2e 369 /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
tomo370 0:d94213e24c2e 370 /// once per hour, approximately. Speed accuracy depends on the Arduino
tomo370 0:d94213e24c2e 371 /// crystal. Jitter depends on how frequently you call the runSpeed() function.
tomo370 0:d94213e24c2e 372 void setSpeed(float speed);
tomo370 0:d94213e24c2e 373
tomo370 0:d94213e24c2e 374 /// The most recently set speed
tomo370 0:d94213e24c2e 375 /// \return the most recent speed in steps per second
tomo370 0:d94213e24c2e 376 float speed();
tomo370 0:d94213e24c2e 377
tomo370 0:d94213e24c2e 378 /// The distance from the current position to the target position.
tomo370 0:d94213e24c2e 379 /// \return the distance from the current position to the target position
tomo370 0:d94213e24c2e 380 /// in steps. Positive is clockwise from the current position.
tomo370 0:d94213e24c2e 381 long distanceToGo();
tomo370 0:d94213e24c2e 382
tomo370 0:d94213e24c2e 383 /// The most recently set target position.
tomo370 0:d94213e24c2e 384 /// \return the target position
tomo370 0:d94213e24c2e 385 /// in steps. Positive is clockwise from the 0 position.
tomo370 0:d94213e24c2e 386 long targetPosition();
tomo370 0:d94213e24c2e 387
tomo370 0:d94213e24c2e 388 /// The currently motor position.
tomo370 0:d94213e24c2e 389 /// \return the current motor position
tomo370 0:d94213e24c2e 390 /// in steps. Positive is clockwise from the 0 position.
tomo370 4:c3f3fdde7eee 391 long currentPosition();
tomo370 0:d94213e24c2e 392
tomo370 0:d94213e24c2e 393 /// Resets the current position of the motor, so that wherever the motor
tomo370 0:d94213e24c2e 394 /// happens to be right now is considered to be the new 0 position. Useful
tomo370 0:d94213e24c2e 395 /// for setting a zero position on a stepper after an initial hardware
tomo370 0:d94213e24c2e 396 /// positioning move.
tomo370 0:d94213e24c2e 397 /// Has the side effect of setting the current motor speed to 0.
tomo370 0:d94213e24c2e 398 /// \param[in] position The position in steps of wherever the motor
tomo370 0:d94213e24c2e 399 /// happens to be right now.
tomo370 4:c3f3fdde7eee 400 void setCurrentPosition(long position);
tomo370 4:c3f3fdde7eee 401
tomo370 4:c3f3fdde7eee 402 /// Moves the motor (with acceleration/deceleration)
tomo370 0:d94213e24c2e 403 /// to the target position and blocks until it is at
tomo370 0:d94213e24c2e 404 /// position. Dont use this in event loops, since it blocks.
tomo370 0:d94213e24c2e 405 void runToPosition();
tomo370 0:d94213e24c2e 406
tomo370 0:d94213e24c2e 407 /// Runs at the currently selected speed until the target position is reached
tomo370 0:d94213e24c2e 408 /// Does not implement accelerations.
tomo370 0:d94213e24c2e 409 /// \return true if it stepped
tomo370 0:d94213e24c2e 410 bool runSpeedToPosition();
tomo370 0:d94213e24c2e 411
tomo370 0:d94213e24c2e 412 /// Moves the motor (with acceleration/deceleration)
tomo370 0:d94213e24c2e 413 /// to the new target position and blocks until it is at
tomo370 0:d94213e24c2e 414 /// position. Dont use this in event loops, since it blocks.
tomo370 0:d94213e24c2e 415 /// \param[in] position The new target position.
tomo370 0:d94213e24c2e 416 void runToNewPosition(long position);
tomo370 0:d94213e24c2e 417
tomo370 0:d94213e24c2e 418 /// Sets a new target position that causes the stepper
tomo370 0:d94213e24c2e 419 /// to stop as quickly as possible, using the current speed and acceleration parameters.
tomo370 0:d94213e24c2e 420 void stop();
tomo370 0:d94213e24c2e 421
tomo370 0:d94213e24c2e 422 /// Disable motor pin outputs by setting them all LOW
tomo370 0:d94213e24c2e 423 /// Depending on the design of your electronics this may turn off
tomo370 0:d94213e24c2e 424 /// the power to the motor coils, saving power.
tomo370 0:d94213e24c2e 425 /// This is useful to support Arduino low power modes: disable the outputs
tomo370 0:d94213e24c2e 426 /// during sleep and then reenable with enableOutputs() before stepping
tomo370 0:d94213e24c2e 427 /// again.
tomo370 0:d94213e24c2e 428 virtual void disableOutputs();
tomo370 0:d94213e24c2e 429
tomo370 0:d94213e24c2e 430 /// Enable motor pin outputs by setting the motor pins to OUTPUT
tomo370 0:d94213e24c2e 431 /// mode. Called automatically by the constructor.
tomo370 0:d94213e24c2e 432 virtual void enableOutputs();
tomo370 0:d94213e24c2e 433
tomo370 4:c3f3fdde7eee 434 /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is
tomo370 0:d94213e24c2e 435 /// approximately 20 microseconds. Times less than 20 microseconds
tomo370 0:d94213e24c2e 436 /// will usually result in 20 microseconds or so.
tomo370 4:c3f3fdde7eee 437 /// \param[in] minWidth The minimum pulse width in microseconds.
tomo370 0:d94213e24c2e 438 void setMinPulseWidth(unsigned int minWidth);
tomo370 0:d94213e24c2e 439
tomo370 0:d94213e24c2e 440 /// Sets the enable pin number for stepper drivers.
tomo370 0:d94213e24c2e 441 /// 0xFF indicates unused (default).
tomo370 4:c3f3fdde7eee 442 /// Otherwise, if a pin is set, the pin will be turned on when
tomo370 4:c3f3fdde7eee 443 /// enableOutputs() is called and switched off when disableOutputs()
tomo370 0:d94213e24c2e 444 /// is called.
tomo370 0:d94213e24c2e 445 /// \param[in] enablePin Arduino digital pin number for motor enable
tomo370 0:d94213e24c2e 446 /// \sa setPinsInverted
tomo370 0:d94213e24c2e 447 void setEnablePin(PinName enablePin);
tomo370 0:d94213e24c2e 448
tomo370 0:d94213e24c2e 449 /// Sets the inversion for stepper driver pins
tomo370 0:d94213e24c2e 450 /// \param[in] directionInvert True for inverted direction pin, false for non-inverted
tomo370 0:d94213e24c2e 451 /// \param[in] stepInvert True for inverted step pin, false for non-inverted
tomo370 0:d94213e24c2e 452 /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
tomo370 0:d94213e24c2e 453 void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
tomo370 0:d94213e24c2e 454
tomo370 0:d94213e24c2e 455 /// Sets the inversion for 2, 3 and 4 wire stepper pins
tomo370 0:d94213e24c2e 456 /// \param[in] pin1Invert True for inverted pin1, false for non-inverted
tomo370 0:d94213e24c2e 457 /// \param[in] pin2Invert True for inverted pin2, false for non-inverted
tomo370 0:d94213e24c2e 458 /// \param[in] pin3Invert True for inverted pin3, false for non-inverted
tomo370 0:d94213e24c2e 459 /// \param[in] pin4Invert True for inverted pin4, false for non-inverted
tomo370 0:d94213e24c2e 460 /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
tomo370 0:d94213e24c2e 461 void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
tomo370 0:d94213e24c2e 462
tomo370 0:d94213e24c2e 463 protected:
tomo370 4:c3f3fdde7eee 464 DigitalOut *_pin0;
tomo370 4:c3f3fdde7eee 465 DigitalOut *_pin1;
tomo370 4:c3f3fdde7eee 466 DigitalOut *_pin2;
tomo370 4:c3f3fdde7eee 467 DigitalOut *_pin3;
tomo370 0:d94213e24c2e 468
tomo370 0:d94213e24c2e 469 /// \brief Direction indicator
tomo370 0:d94213e24c2e 470 /// Symbolic names for the direction the motor is turning
tomo370 4:c3f3fdde7eee 471 typedef enum {
tomo370 4:c3f3fdde7eee 472 DIRECTION_CCW = 0, ///< Clockwise
tomo370 0:d94213e24c2e 473 DIRECTION_CW = 1 ///< Counter-Clockwise
tomo370 0:d94213e24c2e 474 } Direction;
tomo370 0:d94213e24c2e 475
tomo370 0:d94213e24c2e 476 /// Forces the library to compute a new instantaneous speed and set that as
tomo370 0:d94213e24c2e 477 /// the current speed. It is called by
tomo370 0:d94213e24c2e 478 /// the library:
tomo370 0:d94213e24c2e 479 /// \li after each step
tomo370 0:d94213e24c2e 480 /// \li after change to maxSpeed through setMaxSpeed()
tomo370 0:d94213e24c2e 481 /// \li after change to acceleration through setAcceleration()
tomo370 0:d94213e24c2e 482 /// \li after change to target position (relative or absolute) through
tomo370 0:d94213e24c2e 483 /// move() or moveTo()
tomo370 0:d94213e24c2e 484 void computeNewSpeed();
tomo370 0:d94213e24c2e 485
tomo370 0:d94213e24c2e 486 /// Low level function to set the motor output pins
tomo370 0:d94213e24c2e 487 /// bit 0 of the mask corresponds to _pin[0]
tomo370 0:d94213e24c2e 488 /// bit 1 of the mask corresponds to _pin[1]
tomo370 0:d94213e24c2e 489 /// You can override this to impment, for example serial chip output insted of using the
tomo370 0:d94213e24c2e 490 /// output pins directly
tomo370 0:d94213e24c2e 491 virtual void setOutputPins(uint8_t mask);
tomo370 0:d94213e24c2e 492
tomo370 0:d94213e24c2e 493 /// Called to execute a step. Only called when a new step is
tomo370 0:d94213e24c2e 494 /// required. Subclasses may override to implement new stepping
tomo370 0:d94213e24c2e 495 /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
tomo370 0:d94213e24c2e 496 /// number of pins defined for the stepper.
tomo370 0:d94213e24c2e 497 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 498 virtual void step(long step);
tomo370 0:d94213e24c2e 499
tomo370 0:d94213e24c2e 500 /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
tomo370 0:d94213e24c2e 501 /// required. Calls _forward() or _backward() to perform the step
tomo370 0:d94213e24c2e 502 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 503 virtual void step0(long step);
tomo370 0:d94213e24c2e 504
tomo370 0:d94213e24c2e 505 /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
tomo370 0:d94213e24c2e 506 /// required. Subclasses may override to implement new stepping
tomo370 4:c3f3fdde7eee 507 /// interfaces. The default sets or clears the outputs of Step pin1 to step,
tomo370 0:d94213e24c2e 508 /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
tomo370 0:d94213e24c2e 509 /// which is the minimum STEP pulse width for the 3967 driver.
tomo370 0:d94213e24c2e 510 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 511 virtual void step1(long step);
tomo370 0:d94213e24c2e 512
tomo370 0:d94213e24c2e 513 /// Called to execute a step on a 2 pin motor. Only called when a new step is
tomo370 0:d94213e24c2e 514 /// required. Subclasses may override to implement new stepping
tomo370 0:d94213e24c2e 515 /// interfaces. The default sets or clears the outputs of pin1 and pin2
tomo370 0:d94213e24c2e 516 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 517 virtual void step2(long step);
tomo370 0:d94213e24c2e 518
tomo370 0:d94213e24c2e 519 /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
tomo370 0:d94213e24c2e 520 /// required. Subclasses may override to implement new stepping
tomo370 0:d94213e24c2e 521 /// interfaces. The default sets or clears the outputs of pin1, pin2,
tomo370 0:d94213e24c2e 522 /// pin3
tomo370 0:d94213e24c2e 523 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 524 virtual void step3(long step);
tomo370 0:d94213e24c2e 525
tomo370 0:d94213e24c2e 526 /// Called to execute a step on a 4 pin motor. Only called when a new step is
tomo370 0:d94213e24c2e 527 /// required. Subclasses may override to implement new stepping
tomo370 0:d94213e24c2e 528 /// interfaces. The default sets or clears the outputs of pin1, pin2,
tomo370 0:d94213e24c2e 529 /// pin3, pin4.
tomo370 0:d94213e24c2e 530 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 531 virtual void step4(long step);
tomo370 0:d94213e24c2e 532
tomo370 0:d94213e24c2e 533 /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
tomo370 0:d94213e24c2e 534 /// required. Subclasses may override to implement new stepping
tomo370 0:d94213e24c2e 535 /// interfaces. The default sets or clears the outputs of pin1, pin2,
tomo370 0:d94213e24c2e 536 /// pin3
tomo370 0:d94213e24c2e 537 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 538 virtual void step6(long step);
tomo370 0:d94213e24c2e 539
tomo370 0:d94213e24c2e 540 /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
tomo370 0:d94213e24c2e 541 /// required. Subclasses may override to implement new stepping
tomo370 0:d94213e24c2e 542 /// interfaces. The default sets or clears the outputs of pin1, pin2,
tomo370 0:d94213e24c2e 543 /// pin3, pin4.
tomo370 0:d94213e24c2e 544 /// \param[in] step The current step phase number (0 to 7)
tomo370 0:d94213e24c2e 545 virtual void step8(long step);
tomo370 0:d94213e24c2e 546
tomo370 0:d94213e24c2e 547 private:
tomo370 0:d94213e24c2e 548 /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
tomo370 0:d94213e24c2e 549 /// bipolar, and 4 pins is a unipolar.
tomo370 0:d94213e24c2e 550 uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType
tomo370 0:d94213e24c2e 551
tomo370 0:d94213e24c2e 552 /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
tomo370 0:d94213e24c2e 553 /// stepper motor or driver
tomo370 0:d94213e24c2e 554 uint8_t _pin[4];
tomo370 0:d94213e24c2e 555
tomo370 0:d94213e24c2e 556 /// Whether the _pins is inverted or not
tomo370 0:d94213e24c2e 557 uint8_t _pinInverted[4];
tomo370 0:d94213e24c2e 558
tomo370 0:d94213e24c2e 559 /// The current absolution position in steps.
tomo370 0:d94213e24c2e 560 long _currentPos; // Steps
tomo370 0:d94213e24c2e 561
tomo370 0:d94213e24c2e 562 /// The target position in steps. The AccelStepper library will move the
tomo370 0:d94213e24c2e 563 /// motor from the _currentPos to the _targetPos, taking into account the
tomo370 0:d94213e24c2e 564 /// max speed, acceleration and deceleration
tomo370 0:d94213e24c2e 565 long _targetPos; // Steps
tomo370 0:d94213e24c2e 566
tomo370 0:d94213e24c2e 567 /// The current motos speed in steps per second
tomo370 0:d94213e24c2e 568 /// Positive is clockwise
tomo370 0:d94213e24c2e 569 float _speed; // Steps per second
tomo370 0:d94213e24c2e 570
tomo370 0:d94213e24c2e 571 /// The maximum permitted speed in steps per second. Must be > 0.
tomo370 0:d94213e24c2e 572 float _maxSpeed;
tomo370 0:d94213e24c2e 573
tomo370 0:d94213e24c2e 574 /// The acceleration to use to accelerate or decelerate the motor in steps
tomo370 0:d94213e24c2e 575 /// per second per second. Must be > 0
tomo370 0:d94213e24c2e 576 float _acceleration;
tomo370 0:d94213e24c2e 577 float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
tomo370 0:d94213e24c2e 578
tomo370 0:d94213e24c2e 579 /// The current interval between steps in microseconds.
tomo370 0:d94213e24c2e 580 /// 0 means the motor is currently stopped with _speed == 0
tomo370 0:d94213e24c2e 581 unsigned long _stepInterval;
tomo370 0:d94213e24c2e 582
tomo370 0:d94213e24c2e 583 /// The last step time in microseconds
tomo370 0:d94213e24c2e 584 unsigned long _lastStepTime;
tomo370 0:d94213e24c2e 585
tomo370 0:d94213e24c2e 586 /// The minimum allowed pulse width in microseconds
tomo370 0:d94213e24c2e 587 unsigned int _minPulseWidth;
tomo370 0:d94213e24c2e 588
tomo370 0:d94213e24c2e 589 /// Is the direction pin inverted?
tomo370 0:d94213e24c2e 590 ///bool _dirInverted; /// Moved to _pinInverted[1]
tomo370 0:d94213e24c2e 591
tomo370 0:d94213e24c2e 592 /// Is the step pin inverted?
tomo370 0:d94213e24c2e 593 ///bool _stepInverted; /// Moved to _pinInverted[0]
tomo370 0:d94213e24c2e 594
tomo370 0:d94213e24c2e 595 /// Is the enable pin inverted?
tomo370 0:d94213e24c2e 596 bool _enableInverted;
tomo370 0:d94213e24c2e 597
tomo370 0:d94213e24c2e 598 /// Enable pin for stepper driver, or 0xFF if unused.
tomo370 0:d94213e24c2e 599 //uint8_t _enablePin;
tomo370 4:c3f3fdde7eee 600 DigitalOut *_enablePin;
tomo370 0:d94213e24c2e 601
tomo370 0:d94213e24c2e 602 /// The pointer to a forward-step procedure
tomo370 0:d94213e24c2e 603 void (*_forward)();
tomo370 0:d94213e24c2e 604
tomo370 0:d94213e24c2e 605 /// The pointer to a backward-step procedure
tomo370 0:d94213e24c2e 606 void (*_backward)();
tomo370 0:d94213e24c2e 607
tomo370 0:d94213e24c2e 608 /// The step counter for speed calculations
tomo370 0:d94213e24c2e 609 long _n;
tomo370 0:d94213e24c2e 610
tomo370 0:d94213e24c2e 611 /// Initial step size in microseconds
tomo370 0:d94213e24c2e 612 float _c0;
tomo370 0:d94213e24c2e 613
tomo370 0:d94213e24c2e 614 /// Last step size in microseconds
tomo370 0:d94213e24c2e 615 float _cn;
tomo370 0:d94213e24c2e 616
tomo370 0:d94213e24c2e 617 /// Min step size in microseconds based on maxSpeed
tomo370 0:d94213e24c2e 618 float _cmin; // at max speed
tomo370 0:d94213e24c2e 619
tomo370 0:d94213e24c2e 620 /// Current direction motor is spinning in
tomo370 0:d94213e24c2e 621 bool _direction; // 1 == CW
tomo370 0:d94213e24c2e 622
tomo370 0:d94213e24c2e 623 };
tomo370 0:d94213e24c2e 624
tomo370 0:d94213e24c2e 625 /// @example Random.pde
tomo370 0:d94213e24c2e 626 /// Make a single stepper perform random changes in speed, position and acceleration
tomo370 0:d94213e24c2e 627
tomo370 0:d94213e24c2e 628 /// @example Overshoot.pde
tomo370 0:d94213e24c2e 629 /// Check overshoot handling
tomo370 4:c3f3fdde7eee 630 /// which sets a new target position and then waits until the stepper has
tomo370 0:d94213e24c2e 631 /// achieved it. This is used for testing the handling of overshoots
tomo370 0:d94213e24c2e 632
tomo370 0:d94213e24c2e 633 /// @example MultiStepper.pde
tomo370 0:d94213e24c2e 634 /// Shows how to multiple simultaneous steppers
tomo370 0:d94213e24c2e 635 /// Runs one stepper forwards and backwards, accelerating and decelerating
tomo370 0:d94213e24c2e 636 /// at the limits. Runs other steppers at the same time
tomo370 0:d94213e24c2e 637
tomo370 0:d94213e24c2e 638 /// @example ConstantSpeed.pde
tomo370 0:d94213e24c2e 639 /// Shows how to run AccelStepper in the simplest,
tomo370 0:d94213e24c2e 640 /// fixed speed mode with no accelerations
tomo370 0:d94213e24c2e 641
tomo370 4:c3f3fdde7eee 642 /// @example Blocking.pde
tomo370 0:d94213e24c2e 643 /// Shows how to use the blocking call runToNewPosition
tomo370 4:c3f3fdde7eee 644 /// Which sets a new target position and then waits until the stepper has
tomo370 0:d94213e24c2e 645 /// achieved it.
tomo370 0:d94213e24c2e 646
tomo370 0:d94213e24c2e 647 /// @example AFMotor_MultiStepper.pde
tomo370 0:d94213e24c2e 648 /// Control both Stepper motors at the same time with different speeds
tomo370 4:c3f3fdde7eee 649 /// and accelerations.
tomo370 0:d94213e24c2e 650
tomo370 0:d94213e24c2e 651 /// @example AFMotor_ConstantSpeed.pde
tomo370 0:d94213e24c2e 652 /// Shows how to run AccelStepper in the simplest,
tomo370 0:d94213e24c2e 653 /// fixed speed mode with no accelerations
tomo370 0:d94213e24c2e 654
tomo370 0:d94213e24c2e 655 /// @example ProportionalControl.pde
tomo370 0:d94213e24c2e 656 /// Make a single stepper follow the analog value read from a pot or whatever
tomo370 4:c3f3fdde7eee 657 /// The stepper will move at a constant speed to each newly set posiiton,
tomo370 0:d94213e24c2e 658 /// depending on the value of the pot.
tomo370 0:d94213e24c2e 659
tomo370 0:d94213e24c2e 660 /// @example Bounce.pde
tomo370 0:d94213e24c2e 661 /// Make a single stepper bounce from one limit to another, observing
tomo370 0:d94213e24c2e 662 /// accelrations at each end of travel
tomo370 0:d94213e24c2e 663
tomo370 0:d94213e24c2e 664 /// @example Quickstop.pde
tomo370 0:d94213e24c2e 665 /// Check stop handling.
tomo370 0:d94213e24c2e 666 /// Calls stop() while the stepper is travelling at full speed, causing
tomo370 0:d94213e24c2e 667 /// the stepper to stop as quickly as possible, within the constraints of the
tomo370 0:d94213e24c2e 668 /// current acceleration.
tomo370 0:d94213e24c2e 669
tomo370 0:d94213e24c2e 670 /// @example MotorShield.pde
tomo370 0:d94213e24c2e 671 /// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
tomo370 0:d94213e24c2e 672 /// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
tomo370 0:d94213e24c2e 673
tomo370 0:d94213e24c2e 674 /// @example DualMotorShield.pde
tomo370 4:c3f3fdde7eee 675 /// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
tomo370 0:d94213e24c2e 676 /// Itead Studio Arduino Dual Stepper Motor Driver Shield
tomo370 0:d94213e24c2e 677 /// model IM120417015
tomo370 0:d94213e24c2e 678
tomo370 4:c3f3fdde7eee 679 #endif