Stepper.h

00001 /* Stepper  Motor Library v1.0
00002  * Copyright (c) 2017 Armand Coetzer
00003  * s213293048@nmmu.ac.za
00004  *
00005  *
00006  * Permission is hereby granted, free of charge, to any person obtaining a copy
00007  * of this software and associated documentation files (the "Software"), to deal
00008  * in the Software without restriction, including without limitation the rights
00009  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00010  * copies of the Software, and to permit persons to whom the Software is
00011  * furnished to do so, subject to the following conditions:
00012  *
00013  * The above copyright notice and this permission notice shall be included in
00014  * all copies or substantial portions of the Software.
00015  *
00016  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00017  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00018  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00019  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00020  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00021  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00022  * THE SOFTWARE.
00023  */
00024  
00025 #ifndef Stepper_H
00026 #define Stepper_H
00027  
00028 #include "mbed.h"
00029  
00030 /** 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.
00031  *
00032  * Example:
00033  * @code
00034  * #include "mbed.h"                                           //include the mbed APIs and other libraries
00035  * #include "Stepper.h"                                        //include the Stepper librariy
00036  *
00037  * Stepper stepper (PE_4, PE_5, PE_6, PE_7);                   //Initialize bus pins
00038  *
00039  * int main() 
00040  * {
00041  *
00042  *    while(1)                                               //Enter infinite while loop
00043  *    {
00044  *       stepper.Interval(0.1);                              //Choosing time interval between steps(control speed)
00045  *       stepper.Direction(true);                            //Choosing direction. true = Clockwise, false = Anticlockwise
00046  *       stepper.Run();                                      //Makes the stepper run continuously
00047  *       wait(5);                                            //mbed's wait function, wait 5 sec.
00048  *       stepper.Direction(false); 
00049  *       wait(5);   
00050  *       stepper.Stop();                                     //To make stepper stop
00051  *       wait(5);     
00052  *    }                   
00053  * }
00054  * @endcode
00055  */
00056  
00057 class Stepper {
00058   public:
00059     /** Create a Stepper motor object connected to the specified pins. 
00060     * @param coil1 MCU Output Pin for coil1.
00061     * @param coil2 MCU Output Pin for coil2.
00062     * @param coil3 MCU Output Pin for coil3.
00063     * @param coil4 MCU Output Pin for coil4.
00064     */
00065     Stepper(PinName Coil1, PinName Coil2, PinName Coil3, PinName Coil4);
00066     
00067     /** Makes the stepper run continuously.
00068     * @param 
00069     *     None
00070     */
00071     void Run();
00072     
00073     /** To make stepper stop.
00074     * @param 
00075     *     None
00076     */
00077     void Stop();
00078     
00079      /** Setting direction of the stepper motor, Clockwise or Anticlockwise.
00080     * @param 
00081     *     boolean slection to select direction. true = Clockwise, false = Anticlockwise
00082     */
00083     void Direction(bool dir);
00084     
00085      /** Choosing time interval between steps(control speed).
00086     * @param 
00087     *     A float value to set the time between steps.
00088     * @return
00089     *     None
00090     */
00091     void Interval(float sec);
00092     
00093     /** Selct amount of steps the stpper motor should turn.
00094     * @param 
00095     *     interger value to select the amount of steps.
00096     * @return
00097     *     None
00098     */
00099     void Step(int steps);
00100 
00101   private:
00102   
00103     void stepper_isr();
00104     
00105     BusOut _Coils;
00106     Timer timer;
00107     Ticker ticker;
00108     float secinter;
00109     float lastsecinter;
00110     uint8_t StepDir;
00111     uint8_t stepper_steps[4];
00112     int8_t stepcount;
00113     uint8_t Prevtime;
00114     uint8_t run;
00115     uint8_t stepincr;   
00116     uint8_t stepping;
00117     uint8_t Steps;
00118 };
00119  
00120 #endif