Andy K / SimpleSteppers

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

Dependents:   Steppermotor

inc/example2.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 #include "mbed.h"
AjK 4:7b7940df7865 3 #include "SimpleStepperProfiler.h"
AjK 4:7b7940df7865 4
AjK 4:7b7940df7865 5 SimpleStepperOutput led1(LED1);
AjK 4:7b7940df7865 6
AjK 4:7b7940df7865 7 // SimpleStepperOutput is basically the same as
AjK 4:7b7940df7865 8 // Mbed's DigitalOut class. However, it's more
AjK 4:7b7940df7865 9 // portable to other platforms without having
AjK 4:7b7940df7865 10 // to also port the entire Mbed library.
AjK 4:7b7940df7865 11 SimpleStepperOutput sdir0(p17);
AjK 4:7b7940df7865 12
AjK 4:7b7940df7865 13 // Create four stepper profilers.
AjK 4:7b7940df7865 14 // Stepper0 has the pulse output on p8 and dir on p17
AjK 4:7b7940df7865 15 SimpleStepperProfiler stepper0(p8, &sdir0);
AjK 4:7b7940df7865 16
AjK 4:7b7940df7865 17 int main() {
AjK 4:7b7940df7865 18
AjK 4:7b7940df7865 19 // We do not need to maintain the stepper position
AjK 4:7b7940df7865 20 // for this simple example. This reduces the amount
AjK 4:7b7940df7865 21 // of work the ISR has to do.
AjK 4:7b7940df7865 22 stepper0.setMaintainPositionData(false);
AjK 4:7b7940df7865 23
AjK 4:7b7940df7865 24 // Set all steppers to top speed of 5000 pulses/second.
AjK 4:7b7940df7865 25 // Because we are using the SimpleStepperProfiler then
AjK 4:7b7940df7865 26 // the accel will be 1000pps/s, so to reach 5000pps will
AjK 4:7b7940df7865 27 // take 5seconds.
AjK 4:7b7940df7865 28
AjK 4:7b7940df7865 29 // The accel profile can be adjusted by altering the profilers
AjK 4:7b7940df7865 30 // step value and poll interval. The default step value is 10
AjK 4:7b7940df7865 31 // each poll interval and the default poll interval is 10ms.
AjK 4:7b7940df7865 32 // This equates to 100 * 10 = 1000pps/s. Adjust as required
AjK 4:7b7940df7865 33 // using :-
AjK 4:7b7940df7865 34 // setStepPos(int i); where i is the step value +/- each poll interval accel
AjK 4:7b7940df7865 35 // setStepNeg(int i); where i is the step value +/- each poll interval decel
AjK 4:7b7940df7865 36 // setPollInterval(int i) where i is the poll interval in microseconds.
AjK 4:7b7940df7865 37
AjK 4:7b7940df7865 38 stepper0.setSpeed(5000);
AjK 4:7b7940df7865 39 while(stepper0.getSpeed() != 5000); // wait to reach speed.
AjK 4:7b7940df7865 40
AjK 4:7b7940df7865 41 // Decel stepper to halt/stop.
AjK 4:7b7940df7865 42 stepper0.setSpeed(0);
AjK 4:7b7940df7865 43 while(stepper0.getSpeed() != 0); // wait to reach speed.
AjK 4:7b7940df7865 44
AjK 4:7b7940df7865 45 // Set speed but peform async emergency stop while accelerating.
AjK 4:7b7940df7865 46 stepper0.setSpeed(5000);
AjK 4:7b7940df7865 47 wait(2.5);
AjK 4:7b7940df7865 48 stepper0.eStop();
AjK 4:7b7940df7865 49
AjK 4:7b7940df7865 50 while(1) {
AjK 4:7b7940df7865 51 led1 = !led1;
AjK 4:7b7940df7865 52 wait(0.2);
AjK 4:7b7940df7865 53 }
AjK 4:7b7940df7865 54 }