Diff: MotorLib/motor.h

Revision:

0:0e577ce96b2f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorLib/motor.h	Sat Feb 08 09:48:46 2020 +0000
@@ -0,0 +1,102 @@
+// -------------------- Motor ---------------------------
+#ifdef MOTOR_H
+#else
+#define MOTOR_H
+
+#include "mbed.h"
+
+#define MOTOR_STEP_TIME_MIN 700
+#define MOTOR_STEP_TIME_DEFAULT 5000
+#define MOTOR_TICKS_FOR_A_TURN 4096
+
+typedef enum MotorStateList {   // Define Motor States for the State Machine
+    Motor_IDLE = 0,
+    Motor_RUN,
+    Motor_PAUSE,
+    Motor_ZERO,
+    Motor_CALIB
+    } MotorState;
+    
+typedef enum MotorCommandList { // Define Motor State Machine Commands
+    MOTOR_nop = 0,
+    MOTOR_start,
+    MOTOR_pause,
+    MOTOR_restart,
+    MOTOR_stop,
+    MOTOR_zero
+    } MotorCommand;
+
+typedef enum MotorDirectionList { // Define Motor Clockwise or Anticlockwise
+    CLOCKWISE = 0,
+    COUNTERCLOCKWISE
+    } MotorDir;
+    
+class Motor {
+    
+    MotorState state;
+    MotorCommand command;
+    MotorDir direction;
+
+    
+    public:
+ 
+    
+    Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t TickTime);
+    Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3);
+    void RunSteps(MotorDir direction, uint32_t steps);
+    void RunDegrees(MotorDir direction, float steps);
+    void RunInfinite(MotorDir direction);
+    void SetDirection(MotorDir dir);
+    void TestMotor();
+    void RunMotor();
+    void setMotorCallback(void (*mIT)());
+     void setMotorCallback(void (*mIT)(), bool itOnStop);
+ 
+template<typename T>
+void setMotorCallback(T *object, void (T::*member)(void))
+{
+    _callback = callback(object,member);
+    itOnStop = true;
+}
+ 
+    void removeMotorCallback();
+
+    uint32_t getCalibration();    
+    void setCalibration(uint32_t nbTicksforFullTurn);
+    void setDelayBtwTicks(uint32_t tickTime); // in ms
+    void setSpeed(float sForOneTurn) ;// nb of s to get rotation of 360° (if 20s, the motor will do 360° in 20 s). 
+    
+    void Start();
+    void Stop();
+    void Pause();
+    void Restart();
+    void SetZero();
+    
+    MotorStateList getState();
+    
+    private:
+    void initialization(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t TickTime);
+ 
+    void StopMotor();
+    void StartMotor();
+    void SetCommand(MotorCommand cmd);
+    void LeftMotor();
+    void RightMotor();
+    void ProcessMotorStateMachine();
+    Timer tuneTimings;
+uint32_t last;
+    DigitalOut *MPh0, *MPh1, *MPh2, *MPh3;
+    
+    int MotorIndex;    // --- Motor Variable
+   
+    bool init;
+    Ticker  MotorSystemTick;    // System Callback for Motor
+    timestamp_t MotorStepTime;  // Time in µs for one motor step
+    uint32_t    MotorFullTurn;  // Number of step for a complete turn
+    int32_t    NumSteps;       // Number of Steps = NumWire * MotorFullTurn
+    Callback<void()> _callback;
+
+    bool itOnStop;
+};
+
+#endif
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