SimpleStepperProfiler.h

00001 /*
00002     Copyright (c) 2011 Andy Kirkham
00003  
00004     Permission is hereby granted, free of charge, to any person obtaining a copy
00005     of this software and associated documentation files (the "Software"), to deal
00006     in the Software without restriction, including without limitation the rights
00007     to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008     copies of the Software, and to permit persons to whom the Software is
00009     furnished to do so, subject to the following conditions:
00010  
00011     The above copyright notice and this permission notice shall be included in
00012     all copies or substantial portions of the Software.
00013  
00014     THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015     IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016     FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017     AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018     LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019     OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020     THE SOFTWARE.
00021 */
00022 
00023 
00024 #ifndef AJK_SIMPLESTEPERPROFILER_H
00025 #define AJK_SIMPLESTEPERPROFILER_H
00026 
00027 #include "mbed.h"
00028 #include "SimpleSteppers.h"
00029 
00030 namespace AjK {
00031 
00032 class SimpleStepperProfiler : public SimpleStepper {
00033 
00034 protected:
00035     Ticker  _poll;
00036     int     _desired_speed;
00037     int     _step_pos;
00038     int     _step_neg;
00039     int     _poll_interval;
00040 
00041     void poll(void) 
00042     {
00043         if (_steps_per_second < _desired_speed) {
00044             _steps_per_second += _step_pos;
00045             if (_steps_per_second > _desired_speed) {
00046                 _steps_per_second = _desired_speed;
00047             }
00048             SimpleStepper::setSpeed(_steps_per_second);
00049         }
00050         if (_steps_per_second > _desired_speed) {
00051             _steps_per_second -= _step_neg;
00052             if (_steps_per_second < _desired_speed) {
00053                 _steps_per_second = _desired_speed;
00054             }
00055             SimpleStepper::setSpeed(_steps_per_second);
00056         }
00057     }
00058     
00059 public:
00060 
00061     friend class Ticker;
00062     
00063     SimpleStepperProfiler(PinName pulse, SimpleStepperOutput *direction = 0) : 
00064         SimpleStepper(pulse, direction) 
00065     {
00066         _desired_speed = 0;
00067         _step_pos      = 10;
00068         _step_neg      = 10;
00069         _poll_interval = 10000; // 10ms
00070         _poll.attach_us(this, &SimpleStepperProfiler::poll, _poll_interval);   
00071     }
00072     
00073     int  getStepPos(void)  { return _step_pos; }
00074     void setStepPos(int i) { _step_pos = i; }
00075     
00076     int  getStepNeg(void)  { return _step_neg; }
00077     void setStepNeg(int i) { _step_neg = i; }
00078     
00079     int  getPollInterval(void)  { return _poll_interval; }
00080     void setPollInterval(int i) 
00081     { 
00082         _poll_interval = i;
00083         _poll.detach();
00084         _poll.attach_us(this, &SimpleStepperProfiler::poll, _poll_interval);
00085     }
00086     
00087     void setSpeed(int steps_per_second = 0, uint32_t raw = 0)
00088     {
00089         _desired_speed = steps_per_second;
00090     }
00091     
00092     void eStop(void) 
00093     {
00094         _desired_speed = _steps_per_second = 0;
00095         SimpleStepper::setSpeed(_steps_per_second);
00096     }
00097     
00098    
00099 };
00100 
00101 }; // namespace AjK ends.
00102 
00103 
00104 #endif