Andy K / SimpleSteppers

Provides an API software interface to TIMER2 to control upto four stepper motors.

Dependents:   Steppermotor

inc/SimpleStepperProfiler.h@4:7b7940df7865, 2011-05-20 (annotated)

Committer:
AjK
Date:
Fri May 20 09:13:31 2011 +0000
Revision:
4:7b7940df7865
1.1 See ChangeLog.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AjK 4:7b7940df7865 1 /*
AjK 4:7b7940df7865 2 Copyright (c) 2011 Andy Kirkham
AjK 4:7b7940df7865 3
AjK 4:7b7940df7865 4 Permission is hereby granted, free of charge, to any person obtaining a copy
AjK 4:7b7940df7865 5 of this software and associated documentation files (the "Software"), to deal
AjK 4:7b7940df7865 6 in the Software without restriction, including without limitation the rights
AjK 4:7b7940df7865 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
AjK 4:7b7940df7865 8 copies of the Software, and to permit persons to whom the Software is
AjK 4:7b7940df7865 9 furnished to do so, subject to the following conditions:
AjK 4:7b7940df7865 10
AjK 4:7b7940df7865 11 The above copyright notice and this permission notice shall be included in
AjK 4:7b7940df7865 12 all copies or substantial portions of the Software.
AjK 4:7b7940df7865 13
AjK 4:7b7940df7865 14 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
AjK 4:7b7940df7865 15 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
AjK 4:7b7940df7865 16 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AjK 4:7b7940df7865 17 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
AjK 4:7b7940df7865 18 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
AjK 4:7b7940df7865 19 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
AjK 4:7b7940df7865 20 THE SOFTWARE.
AjK 4:7b7940df7865 21 */
AjK 4:7b7940df7865 22
AjK 4:7b7940df7865 23
AjK 4:7b7940df7865 24 #ifndef AJK_SIMPLESTEPERPROFILER_H
AjK 4:7b7940df7865 25 #define AJK_SIMPLESTEPERPROFILER_H
AjK 4:7b7940df7865 26
AjK 4:7b7940df7865 27 #include "mbed.h"
AjK 4:7b7940df7865 28 #include "SimpleSteppers.h"
AjK 4:7b7940df7865 29
AjK 4:7b7940df7865 30 namespace AjK {
AjK 4:7b7940df7865 31
AjK 4:7b7940df7865 32 class SimpleStepperProfiler : public SimpleStepper {
AjK 4:7b7940df7865 33
AjK 4:7b7940df7865 34 protected:
AjK 4:7b7940df7865 35 Ticker _poll;
AjK 4:7b7940df7865 36 int _desired_speed;
AjK 4:7b7940df7865 37 int _step_pos;
AjK 4:7b7940df7865 38 int _step_neg;
AjK 4:7b7940df7865 39 int _poll_interval;
AjK 4:7b7940df7865 40
AjK 4:7b7940df7865 41 void poll(void)
AjK 4:7b7940df7865 42 {
AjK 4:7b7940df7865 43 if (_steps_per_second < _desired_speed) {
AjK 4:7b7940df7865 44 _steps_per_second += _step_pos;
AjK 4:7b7940df7865 45 if (_steps_per_second > _desired_speed) {
AjK 4:7b7940df7865 46 _steps_per_second = _desired_speed;
AjK 4:7b7940df7865 47 }
AjK 4:7b7940df7865 48 SimpleStepper::setSpeed(_steps_per_second);
AjK 4:7b7940df7865 49 }
AjK 4:7b7940df7865 50 if (_steps_per_second > _desired_speed) {
AjK 4:7b7940df7865 51 _steps_per_second -= _step_neg;
AjK 4:7b7940df7865 52 if (_steps_per_second < _desired_speed) {
AjK 4:7b7940df7865 53 _steps_per_second = _desired_speed;
AjK 4:7b7940df7865 54 }
AjK 4:7b7940df7865 55 SimpleStepper::setSpeed(_steps_per_second);
AjK 4:7b7940df7865 56 }
AjK 4:7b7940df7865 57 }
AjK 4:7b7940df7865 58
AjK 4:7b7940df7865 59 public:
AjK 4:7b7940df7865 60
AjK 4:7b7940df7865 61 friend class Ticker;
AjK 4:7b7940df7865 62
AjK 4:7b7940df7865 63 SimpleStepperProfiler(PinName pulse, SimpleStepperOutput *direction = 0) :
AjK 4:7b7940df7865 64 SimpleStepper(pulse, direction)
AjK 4:7b7940df7865 65 {
AjK 4:7b7940df7865 66 _desired_speed = 0;
AjK 4:7b7940df7865 67 _step_pos = 10;
AjK 4:7b7940df7865 68 _step_neg = 10;
AjK 4:7b7940df7865 69 _poll_interval = 10000; // 10ms
AjK 4:7b7940df7865 70 _poll.attach_us(this, &SimpleStepperProfiler::poll, _poll_interval);
AjK 4:7b7940df7865 71 }
AjK 4:7b7940df7865 72
AjK 4:7b7940df7865 73 int getStepPos(void) { return _step_pos; }
AjK 4:7b7940df7865 74 void setStepPos(int i) { _step_pos = i; }
AjK 4:7b7940df7865 75
AjK 4:7b7940df7865 76 int getStepNeg(void) { return _step_neg; }
AjK 4:7b7940df7865 77 void setStepNeg(int i) { _step_neg = i; }
AjK 4:7b7940df7865 78
AjK 4:7b7940df7865 79 int getPollInterval(void) { return _poll_interval; }
AjK 4:7b7940df7865 80 void setPollInterval(int i)
AjK 4:7b7940df7865 81 {
AjK 4:7b7940df7865 82 _poll_interval = i;
AjK 4:7b7940df7865 83 _poll.detach();
AjK 4:7b7940df7865 84 _poll.attach_us(this, &SimpleStepperProfiler::poll, _poll_interval);
AjK 4:7b7940df7865 85 }
AjK 4:7b7940df7865 86
AjK 4:7b7940df7865 87 void setSpeed(int steps_per_second = 0, uint32_t raw = 0)
AjK 4:7b7940df7865 88 {
AjK 4:7b7940df7865 89 _desired_speed = steps_per_second;
AjK 4:7b7940df7865 90 }
AjK 4:7b7940df7865 91
AjK 4:7b7940df7865 92 void eStop(void)
AjK 4:7b7940df7865 93 {
AjK 4:7b7940df7865 94 _desired_speed = _steps_per_second = 0;
AjK 4:7b7940df7865 95 SimpleStepper::setSpeed(_steps_per_second);
AjK 4:7b7940df7865 96 }
AjK 4:7b7940df7865 97
AjK 4:7b7940df7865 98
AjK 4:7b7940df7865 99 };
AjK 4:7b7940df7865 100
AjK 4:7b7940df7865 101 }; // namespace AjK ends.
AjK 4:7b7940df7865 102
AjK 4:7b7940df7865 103
AjK 4:7b7940df7865 104 #endif