Diff: inc/SimpleStepperProfiler.h

Revision:

4:7b7940df7865

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/SimpleStepperProfiler.h	Fri May 20 09:13:31 2011 +0000
@@ -0,0 +1,104 @@
+/*
+    Copyright (c) 2011 Andy Kirkham
+ 
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+ 
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+ 
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+    THE SOFTWARE.
+*/
+
+
+#ifndef AJK_SIMPLESTEPERPROFILER_H
+#define AJK_SIMPLESTEPERPROFILER_H
+
+#include "mbed.h"
+#include "SimpleSteppers.h"
+
+namespace AjK {
+
+class SimpleStepperProfiler : public SimpleStepper {
+
+protected:
+    Ticker  _poll;
+    int     _desired_speed;
+    int     _step_pos;
+    int     _step_neg;
+    int     _poll_interval;
+
+    void poll(void) 
+    {
+        if (_steps_per_second < _desired_speed) {
+            _steps_per_second += _step_pos;
+            if (_steps_per_second > _desired_speed) {
+                _steps_per_second = _desired_speed;
+            }
+            SimpleStepper::setSpeed(_steps_per_second);
+        }
+        if (_steps_per_second > _desired_speed) {
+            _steps_per_second -= _step_neg;
+            if (_steps_per_second < _desired_speed) {
+                _steps_per_second = _desired_speed;
+            }
+            SimpleStepper::setSpeed(_steps_per_second);
+        }
+    }
+    
+public:
+
+    friend class Ticker;
+    
+    SimpleStepperProfiler(PinName pulse, SimpleStepperOutput *direction = 0) : 
+        SimpleStepper(pulse, direction) 
+    {
+        _desired_speed = 0;
+        _step_pos      = 10;
+        _step_neg      = 10;
+        _poll_interval = 10000; // 10ms
+        _poll.attach_us(this, &SimpleStepperProfiler::poll, _poll_interval);   
+    }
+    
+    int  getStepPos(void)  { return _step_pos; }
+    void setStepPos(int i) { _step_pos = i; }
+    
+    int  getStepNeg(void)  { return _step_neg; }
+    void setStepNeg(int i) { _step_neg = i; }
+    
+    int  getPollInterval(void)  { return _poll_interval; }
+    void setPollInterval(int i) 
+    { 
+        _poll_interval = i;
+        _poll.detach();
+        _poll.attach_us(this, &SimpleStepperProfiler::poll, _poll_interval);
+    }
+    
+    void setSpeed(int steps_per_second = 0, uint32_t raw = 0)
+    {
+        _desired_speed = steps_per_second;
+    }
+    
+    void eStop(void) 
+    {
+        _desired_speed = _steps_per_second = 0;
+        SimpleStepper::setSpeed(_steps_per_second);
+    }
+    
+   
+};
+
+}; // namespace AjK ends.
+
+
+#endif