Armand Coetzer / Stepper

Class library for a Stepper Motor to be able to Select amount of steps,set the time interval between steps, run stepper motor freely and stop the stepper motor.

Stepper.h@1:ceb6e16ceeff, 2017-03-03 (annotated)

Committer:
Armand
Date:
Fri Mar 03 10:30:05 2017 +0000
Revision:
1:ceb6e16ceeff
Parent:
0:b0c267f9cc05
Child:
2:bfdd7246ac5e
First Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Armand 0:b0c267f9cc05 1 /* Stepper Motor Library v1.0
Armand 0:b0c267f9cc05 2 * Copyright (c) 2017 Armand Coetzer
Armand 0:b0c267f9cc05 3 * xxxxxxxxxx@nmmu.ac.za
Armand 0:b0c267f9cc05 4 *
Armand 0:b0c267f9cc05 5 *
Armand 0:b0c267f9cc05 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
Armand 0:b0c267f9cc05 7 * of this software and associated documentation files (the "Software"), to deal
Armand 0:b0c267f9cc05 8 * in the Software without restriction, including without limitation the rights
Armand 0:b0c267f9cc05 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Armand 0:b0c267f9cc05 10 * copies of the Software, and to permit persons to whom the Software is
Armand 0:b0c267f9cc05 11 * furnished to do so, subject to the following conditions:
Armand 0:b0c267f9cc05 12 *
Armand 0:b0c267f9cc05 13 * The above copyright notice and this permission notice shall be included in
Armand 0:b0c267f9cc05 14 * all copies or substantial portions of the Software.
Armand 0:b0c267f9cc05 15 *
Armand 0:b0c267f9cc05 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Armand 0:b0c267f9cc05 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Armand 0:b0c267f9cc05 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Armand 0:b0c267f9cc05 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Armand 0:b0c267f9cc05 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Armand 0:b0c267f9cc05 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Armand 0:b0c267f9cc05 22 * THE SOFTWARE.
Armand 0:b0c267f9cc05 23 */
Armand 0:b0c267f9cc05 24
Armand 0:b0c267f9cc05 25 #ifndef Stepper_H
Armand 0:b0c267f9cc05 26 #define Stepper_H
Armand 0:b0c267f9cc05 27
Armand 0:b0c267f9cc05 28 #include "mbed.h"
Armand 0:b0c267f9cc05 29
Armand 1:ceb6e16ceeff 30 /** Class library for a Stepper Motor to be able to Select amount of steps,set the time interval between steps, run stepper motor freely and stop the stepper motor.
Armand 0:b0c267f9cc05 31 *
Armand 0:b0c267f9cc05 32 * Example:
Armand 0:b0c267f9cc05 33 * @code
Armand 0:b0c267f9cc05 34 * #include "mbed.h" //include the mbed APIs and other libraries
Armand 0:b0c267f9cc05 35 * #include "Stepper.h" //include the Stepper librariy
Armand 0:b0c267f9cc05 36 *
Armand 0:b0c267f9cc05 37 * Stepper stepper (PE_4, PE_5, PE_6, PE_7); //Initialize bus pins
Armand 0:b0c267f9cc05 38 *
Armand 0:b0c267f9cc05 39 * int main()
Armand 0:b0c267f9cc05 40 * {
Armand 0:b0c267f9cc05 41 *
Armand 0:b0c267f9cc05 42 * while(1) //Enter infinite while loop
Armand 0:b0c267f9cc05 43 * {
Armand 0:b0c267f9cc05 44 * stepper.Interval(0.1); //Choosing time interval between steps(control speed)
Armand 0:b0c267f9cc05 45 * stepper.Direction(1); //Choosing direction. 1 = Clockwise, -1 = Anticlockwise
Armand 0:b0c267f9cc05 46 * stepper.Run(); //Makes the stepper run continuously
Armand 0:b0c267f9cc05 47 * wait(5); //mbeds wait function
Armand 0:b0c267f9cc05 48 * stepper.Direction(-1);
Armand 0:b0c267f9cc05 49 * wait(5);
Armand 0:b0c267f9cc05 50 * stepper.Stop(); //To make stepper stop
Armand 0:b0c267f9cc05 51 * wait(5);
Armand 0:b0c267f9cc05 52 * }
Armand 0:b0c267f9cc05 53 * }
Armand 0:b0c267f9cc05 54 * @endcode
Armand 0:b0c267f9cc05 55 */
Armand 0:b0c267f9cc05 56
Armand 0:b0c267f9cc05 57 class Stepper {
Armand 0:b0c267f9cc05 58 public:
Armand 0:b0c267f9cc05 59 /** Create a Stepper motor object connected to the specified pins.
Armand 0:b0c267f9cc05 60 * @param coil1 MCU Output Pin for coil1.
Armand 0:b0c267f9cc05 61 * @param coil2 MCU Output Pin for coil2.
Armand 0:b0c267f9cc05 62 * @param coil3 MCU Output Pin for coil3.
Armand 0:b0c267f9cc05 63 * @param coil4 MCU Output Pin for coil4.
Armand 0:b0c267f9cc05 64 */
Armand 0:b0c267f9cc05 65 Stepper(PinName Coil1, PinName Coil2, PinName Coil3, PinName Coil4);
Armand 0:b0c267f9cc05 66
Armand 0:b0c267f9cc05 67 /** Makes the stepper run continuously.
Armand 0:b0c267f9cc05 68 * @param
Armand 0:b0c267f9cc05 69 * None
Armand 0:b0c267f9cc05 70 */
Armand 0:b0c267f9cc05 71 void Run();
Armand 0:b0c267f9cc05 72
Armand 0:b0c267f9cc05 73 /** To make stepper stop.
Armand 0:b0c267f9cc05 74 * @param
Armand 0:b0c267f9cc05 75 * None
Armand 0:b0c267f9cc05 76 */
Armand 0:b0c267f9cc05 77 void Stop();
Armand 0:b0c267f9cc05 78
Armand 0:b0c267f9cc05 79 /** Setting direction of the stepper motor, Clockwise or Anticlockwise.
Armand 0:b0c267f9cc05 80 * @param
Armand 0:b0c267f9cc05 81 * Intiger to select direction. 1 = Clockwise, -1 = Anticlockwise
Armand 0:b0c267f9cc05 82 */
Armand 0:b0c267f9cc05 83 void Direction(int dir);
Armand 0:b0c267f9cc05 84
Armand 0:b0c267f9cc05 85 /** Choosing time interval between steps(control speed).
Armand 0:b0c267f9cc05 86 * @param
Armand 0:b0c267f9cc05 87 * A float value to set the time between steps.
Armand 0:b0c267f9cc05 88 * @return
Armand 0:b0c267f9cc05 89 * None
Armand 0:b0c267f9cc05 90 */
Armand 0:b0c267f9cc05 91 void Interval(float sec);
Armand 0:b0c267f9cc05 92
Armand 0:b0c267f9cc05 93 /** Selct amount of steps the stpper motor should turn.
Armand 0:b0c267f9cc05 94 * @param
Armand 0:b0c267f9cc05 95 * interger value to select the amount of steps.
Armand 0:b0c267f9cc05 96 * @return
Armand 0:b0c267f9cc05 97 * None
Armand 0:b0c267f9cc05 98 */
Armand 0:b0c267f9cc05 99 void Step(int steps);
Armand 0:b0c267f9cc05 100
Armand 0:b0c267f9cc05 101 private:
Armand 0:b0c267f9cc05 102
Armand 0:b0c267f9cc05 103 void stepper_isr();
Armand 0:b0c267f9cc05 104
Armand 0:b0c267f9cc05 105 BusOut _Coils;
Armand 0:b0c267f9cc05 106 Timer timer;
Armand 0:b0c267f9cc05 107 Ticker ticker;
Armand 0:b0c267f9cc05 108 float secinter;
Armand 0:b0c267f9cc05 109 float lastsecinter;
Armand 0:b0c267f9cc05 110 uint8_t StepDir;
Armand 0:b0c267f9cc05 111 uint8_t stepper_steps[4];
Armand 0:b0c267f9cc05 112 int8_t stepcount;
Armand 0:b0c267f9cc05 113 uint8_t Prevtime;
Armand 0:b0c267f9cc05 114 uint8_t run;
Armand 0:b0c267f9cc05 115 uint8_t stepincr;
Armand 0:b0c267f9cc05 116 uint8_t stepping;
Armand 0:b0c267f9cc05 117 uint8_t Steps;
Armand 0:b0c267f9cc05 118 };
Armand 0:b0c267f9cc05 119
Armand 0:b0c267f9cc05 120 #endif