Diff: StepperMotor.cpp

Revision:

0:765da3331ade

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor.cpp	Mon Apr 13 22:17:13 2020 +0000
@@ -0,0 +1,193 @@
+#include "mbed.h"
+#include "StepperMotor.h"
+
+StepperMotor::StepperMotor(
+    PinName out_A,
+    PinName out_B,
+    PinName out_PWR,
+    PinName position_detect
+) :
+        motor_out( out_A, out_B ),
+        pwr_out( out_PWR ),
+        position_detect_pin( position_detect ),
+        rot_mode( SHORTEST ),
+        sync_mode( ASYNCHRONOUS ),
+        max_pos( 480 ),
+        current_pos( 0 ),
+        pos_offset( 0 ),
+        target_pos( 0 ),
+        max_pps( MAX_PPS ),
+        init_done( false ),
+        pause( false ),
+        power_ctrl( false ) {
+
+    pps     = max_pps;
+    t.attach( this, &StepperMotor::motor_maintain, 1.0 / (float)pps );
+}
+
+int StepperMotor::set_pps( int v ) {
+    int     p;
+
+    p   = pps;
+    pps = v;
+    t.detach();
+    t.attach( this, &StepperMotor::motor_maintain, 1.0 / (float)pps );
+    return ( p );
+}
+
+void StepperMotor::set_max_pps( int v ) {
+    max_pps     = v;
+}
+
+int StepperMotor::find_home_position( PositionDetectPorarity edge ) {
+    RotMode     prev_rot;
+    SyncMode    prev_sync;
+    int         prev_pps;
+    int         prev_det_pin;
+    int         direction;
+
+    prev_pps    = set_pps( max_pps );
+    prev_rot    = rot_mode;
+    prev_sync   = sync_mode;
+    set_sync_mode( SYNCHRONOUS );
+    set_rot_mode( SHORTEST );
+
+    prev_det_pin    = position_detect_pin;
+
+    if ( prev_rot == COUNTER_CLOCKWISE_ONLY )
+        direction   = -1;
+    else
+        direction   = 1;
+
+    if ( prev_rot == NO_WRAPAROUND ) {
+
+        for ( int i = 0; i < (max_pos >> 1); i++ ) {
+            move_steps( -1 );
+            if ( ((edge == RISING_EDGE) && !prev_det_pin && position_detect_pin)
+                    || ((edge == FALLING_EDGE) && prev_det_pin && !position_detect_pin) ) {
+                set_home_position();
+                init_done   = true;
+                break;
+            }
+            prev_det_pin    = position_detect_pin;
+        }
+    }
+
+    for ( int i = 0; i < ((prev_rot == NO_WRAPAROUND) ? (max_pos - 1) : (max_pos + 10)); i++ ) {
+        move_steps( direction );
+        if ( ((edge == RISING_EDGE) && !prev_det_pin && position_detect_pin)
+                || ((edge == FALLING_EDGE) && prev_det_pin && !position_detect_pin) ) {
+            set_home_position();
+            init_done   = true;
+            break;
+        }
+        prev_det_pin    = position_detect_pin;
+    }
+
+    go_position( 0 );
+    set_pps( prev_pps );
+    set_rot_mode( prev_rot );
+    set_sync_mode( prev_sync );
+
+    return ( init_done );
+}
+
+void StepperMotor::set_home_position( void ) {
+    set_pause( true );
+    pos_offset  = current_pos & 0x3;
+    current_pos = 0;
+    set_target_pos( 0 );
+    set_pause( false );
+}
+
+int StepperMotor::go_position( int v ) {
+    set_target_pos( v );
+    return ( current_pos );
+}
+
+void StepperMotor::go_angle( float angle ) {
+    go_position( (int)((angle / 360.0) * (float)max_pos) );
+}
+
+int StepperMotor::move_steps( int s ) {
+    set_target_pos( current_pos + s );
+    return ( current_pos );
+}
+
+void StepperMotor::set_rot_mode( RotMode m ) {
+    rot_mode    = m;
+}
+
+void StepperMotor::set_sync_mode( SyncMode m ) {
+    sync_mode    = m;
+}
+
+int StepperMotor::distance( void ) {
+    return( target_pos - current_pos );
+}
+
+void StepperMotor::set_pause( int sw ) {
+    pause   = sw;
+}
+
+void StepperMotor::set_target_pos( int p ) {
+    target_pos  = (p + max_pos) % max_pos;
+
+    if (sync_mode == SYNCHRONOUS)
+        while ( distance() )
+            wait( 0 );
+}
+
+void StepperMotor::set_power_ctrl( int sw ) {
+    power_ctrl  = sw;
+}
+
+void StepperMotor::set_steps_per_rotate( int steps ) {
+    max_pos = steps;
+}
+
+void StepperMotor::motor_maintain( void ) {
+
+    int     diff;
+    int     direction;
+
+    if ( pause )
+        return;
+
+    diff    = target_pos - current_pos;
+
+    if ( !diff ) {
+        pwr_out = power_ctrl ? 0 : 1;
+        return;
+    }
+
+    pwr_out = 1;
+
+    diff = (diff + max_pos) % max_pos;
+
+    if ( diff > (max_pos >> 1) )
+        diff -= max_pos;
+
+    switch ( rot_mode ) {
+        case NO_WRAPAROUND :
+            direction   = ( (target_pos - current_pos) < 0 ) ? -1 : 1;
+            break;
+        case CLOCKWISE_ONLY :
+            direction   = 1;
+            break;
+        case COUNTER_CLOCKWISE_ONLY :
+            direction   = -1;
+            break;
+        default : // SHORTEST :
+            direction   = ( diff < 0 ) ? -1 : 1;
+            break;
+    }
+
+
+    current_pos = ((current_pos + max_pos) + direction) % max_pos;
+
+//    printf( "pos=%d  ofst=%d  puls=%d\r\n", current_pos, pos_offset, (current_pos + pos_offset) );
+    motor_out   = pat[ (current_pos + pos_offset) & 0x3 ];
+};
+
+const unsigned char StepperMotor::pat[ 4 ]  = { 0, 1, 3, 2 };