Matteus Car / Mbed 2 deprecated motorController2

AccelMotor for Mbed

Dependencies:   mbed

Dependents:   stepMotor

AccelStepper.h@3:8d5c0d22d61d, 2017-02-14 (annotated)

Committer:
abckcp
Date:
Tue Feb 14 22:50:03 2017 +0000
Revision:
3:8d5c0d22d61d
Parent:
0:a0391774b0e5 
Nucleo_read_analog_values Alicia

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yweng36 0:a0391774b0e5 1 // AccelStepper.h
yweng36 0:a0391774b0e5 2 //
yweng36 0:a0391774b0e5 3 /// \mainpage AccelStepper library for MBED
yweng36 0:a0391774b0e5 4 ///
yweng36 0:a0391774b0e5 5 /// This is the MBED AccelStepper library.
yweng36 0:a0391774b0e5 6 /// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors.
yweng36 0:a0391774b0e5 7 /// Based on the Arduino AccelStepper library by Airspayce.com
yweng36 0:a0391774b0e5 8 /// Translated for MBED by Jaap Vermaas <jaap@tuxic.nl>, 03-2015
yweng36 0:a0391774b0e5 9 ///
yweng36 0:a0391774b0e5 10 /// The standard Arduino IDE includes the Stepper library
yweng36 0:a0391774b0e5 11 /// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
yweng36 0:a0391774b0e5 12 /// perfectly adequate for simple, single motor applications.
yweng36 0:a0391774b0e5 13 ///
yweng36 0:a0391774b0e5 14 /// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
yweng36 0:a0391774b0e5 15 /// \li Supports acceleration and deceleration
yweng36 0:a0391774b0e5 16 /// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
yweng36 0:a0391774b0e5 17 /// \li API functions never delay() or block
yweng36 0:a0391774b0e5 18 /// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
yweng36 0:a0391774b0e5 19 /// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
yweng36 0:a0391774b0e5 20 /// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
yweng36 0:a0391774b0e5 21 /// \li Very slow speeds are supported
yweng36 0:a0391774b0e5 22 /// \li Extensive API
yweng36 0:a0391774b0e5 23 /// \li Subclass support
yweng36 0:a0391774b0e5 24 ///
yweng36 0:a0391774b0e5 25 /// The latest version of this documentation can be downloaded from
yweng36 0:a0391774b0e5 26 /// http://www.airspayce.com/mikem/arduino/AccelStepper
yweng36 0:a0391774b0e5 27 /// The version of the package that this documentation refers to can be downloaded
yweng36 0:a0391774b0e5 28 /// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip
yweng36 0:a0391774b0e5 29 ///
yweng36 0:a0391774b0e5 30 /// Example Arduino programs are included to show the main modes of use.
yweng36 0:a0391774b0e5 31 ///
yweng36 0:a0391774b0e5 32 /// You can also find online help and discussion at http://groups.google.com/group/accelstepper
yweng36 0:a0391774b0e5 33 /// Please use that group for all questions and discussions on this topic.
yweng36 0:a0391774b0e5 34 /// Do not contact the author directly, unless it is to discuss commercial licensing.
yweng36 0:a0391774b0e5 35 /// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html
yweng36 0:a0391774b0e5 36 ///
yweng36 0:a0391774b0e5 37 /// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
yweng36 0:a0391774b0e5 38 /// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
yweng36 0:a0391774b0e5 39 /// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
yweng36 0:a0391774b0e5 40 /// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with
yweng36 0:a0391774b0e5 41 /// teensyduino addon 1.18 and later.
yweng36 0:a0391774b0e5 42 ///
yweng36 0:a0391774b0e5 43 /// \par Installation
yweng36 0:a0391774b0e5 44 ///
yweng36 0:a0391774b0e5 45 /// Install in the usual way: unzip the distribution zip file to the libraries
yweng36 0:a0391774b0e5 46 /// sub-folder of your sketchbook.
yweng36 0:a0391774b0e5 47 ///
yweng36 0:a0391774b0e5 48 /// \par Theory
yweng36 0:a0391774b0e5 49 ///
yweng36 0:a0391774b0e5 50 /// This code uses speed calculations as described in
yweng36 0:a0391774b0e5 51 /// "Generate stepper-motor speed profiles in real time" by David Austin
yweng36 0:a0391774b0e5 52 /// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
yweng36 0:a0391774b0e5 53 /// with the exception that AccelStepper uses steps per second rather than radians per second
yweng36 0:a0391774b0e5 54 /// (because we dont know the step angle of the motor)
yweng36 0:a0391774b0e5 55 /// An initial step interval is calculated for the first step, based on the desired acceleration
yweng36 0:a0391774b0e5 56 /// On subsequent steps, shorter step intervals are calculated based
yweng36 0:a0391774b0e5 57 /// on the previous step until max speed is achieved.
yweng36 0:a0391774b0e5 58 ///
yweng36 0:a0391774b0e5 59 /// \par Donations
yweng36 0:a0391774b0e5 60 ///
yweng36 0:a0391774b0e5 61 /// This library is offered under a free GPL license for those who want to use it that way.
yweng36 0:a0391774b0e5 62 /// We try hard to keep it up to date, fix bugs
yweng36 0:a0391774b0e5 63 /// and to provide free support. If this library has helped you save time or money, please consider donating at
yweng36 0:a0391774b0e5 64 /// http://www.airspayce.com or here:
yweng36 0:a0391774b0e5 65 ///
yweng36 0:a0391774b0e5 66 /// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
yweng36 0:a0391774b0e5 67 ///
yweng36 0:a0391774b0e5 68 /// \par Trademarks
yweng36 0:a0391774b0e5 69 ///
yweng36 0:a0391774b0e5 70 /// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
yweng36 0:a0391774b0e5 71 /// international trade, and is used only in relation to motor control hardware and software.
yweng36 0:a0391774b0e5 72 /// It is not to be confused with any other similar marks covering other goods and services.
yweng36 0:a0391774b0e5 73 ///
yweng36 0:a0391774b0e5 74 /// \par Copyright
yweng36 0:a0391774b0e5 75 ///
yweng36 0:a0391774b0e5 76 /// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
yweng36 0:a0391774b0e5 77 /// conditions. The main licensing options available are GPL V2 or Commercial:
yweng36 0:a0391774b0e5 78 ///
yweng36 0:a0391774b0e5 79 /// \par Open Source Licensing GPL V2
yweng36 0:a0391774b0e5 80 /// This is the appropriate option if you want to share the source code of your
yweng36 0:a0391774b0e5 81 /// application with everyone you distribute it to, and you also want to give them
yweng36 0:a0391774b0e5 82 /// the right to share who uses it. If you wish to use this software under Open
yweng36 0:a0391774b0e5 83 /// Source Licensing, you must contribute all your source code to the open source
yweng36 0:a0391774b0e5 84 /// community in accordance with the GPL Version 2 when your application is
yweng36 0:a0391774b0e5 85 /// distributed. See http://www.gnu.org/copyleft/gpl.html
yweng36 0:a0391774b0e5 86 ///
yweng36 0:a0391774b0e5 87 /// \par Commercial Licensing
yweng36 0:a0391774b0e5 88 /// This is the appropriate option if you are creating proprietary applications
yweng36 0:a0391774b0e5 89 /// and you are not prepared to distribute and share the source code of your
yweng36 0:a0391774b0e5 90 /// application. Contact info@airspayce.com for details.
yweng36 0:a0391774b0e5 91 ///
yweng36 0:a0391774b0e5 92 /// \par Revision History
yweng36 0:a0391774b0e5 93 /// \version 1.0 Initial release
yweng36 0:a0391774b0e5 94 ///
yweng36 0:a0391774b0e5 95 /// \version 1.1 Added speed() function to get the current speed.
yweng36 0:a0391774b0e5 96 /// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
yweng36 0:a0391774b0e5 97 /// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
yweng36 0:a0391774b0e5 98 /// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
yweng36 0:a0391774b0e5 99 /// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
yweng36 0:a0391774b0e5 100 /// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
yweng36 0:a0391774b0e5 101 /// Added checks for already running at max speed and skip further calcs if so.
yweng36 0:a0391774b0e5 102 /// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang.
yweng36 0:a0391774b0e5 103 /// Reported by Sandy Noble.
yweng36 0:a0391774b0e5 104 /// Removed redundant _lastRunTime member.
yweng36 0:a0391774b0e5 105 /// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected.
yweng36 0:a0391774b0e5 106 /// Reported by Peter Linhart.
yweng36 0:a0391774b0e5 107 /// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
yweng36 0:a0391774b0e5 108 /// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
yweng36 0:a0391774b0e5 109 /// \version 1.10 Builds on Arduino 1.0
yweng36 0:a0391774b0e5 110 /// \version 1.11 Improvments from Michael Ellison:
yweng36 0:a0391774b0e5 111 /// Added optional enable line support for stepper drivers
yweng36 0:a0391774b0e5 112 /// Added inversion for step/direction/enable lines for stepper drivers
yweng36 0:a0391774b0e5 113 /// \version 1.12 Announce Google Group
yweng36 0:a0391774b0e5 114 /// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case,
yweng36 0:a0391774b0e5 115 /// and more or less constant in all cases. This should result in slightly beter high speed performance, and
yweng36 0:a0391774b0e5 116 /// reduce anomalous speed glitches when other steppers are accelerating.
yweng36 0:a0391774b0e5 117 /// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
yweng36 0:a0391774b0e5 118 /// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
yweng36 0:a0391774b0e5 119 /// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
yweng36 0:a0391774b0e5 120 /// running backwards to a smaller target position. Added examples
yweng36 0:a0391774b0e5 121 /// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
yweng36 0:a0391774b0e5 122 /// \version 1.17 Added example ProportionalControl
yweng36 0:a0391774b0e5 123 /// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps
yweng36 0:a0391774b0e5 124 /// without counting. reported by Friedrich, Klappenbach.
yweng36 0:a0391774b0e5 125 /// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
yweng36 0:a0391774b0e5 126 /// for the motor interface. Updated examples to suit.
yweng36 0:a0391774b0e5 127 /// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
yweng36 0:a0391774b0e5 128 /// _pins member changed to _interface.
yweng36 0:a0391774b0e5 129 /// Added _pinInverted array to simplify pin inversion operations.
yweng36 0:a0391774b0e5 130 /// Added new function setOutputPins() which sets the motor output pins.
yweng36 0:a0391774b0e5 131 /// It can be overridden in order to provide, say, serial output instead of parallel output
yweng36 0:a0391774b0e5 132 /// Some refactoring and code size reduction.
yweng36 0:a0391774b0e5 133 /// \version 1.20 Improved documentation and examples to show need for correctly
yweng36 0:a0391774b0e5 134 /// specifying AccelStepper::FULL4WIRE and friends.
yweng36 0:a0391774b0e5 135 /// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
yweng36 0:a0391774b0e5 136 /// when _speed was small but non-zero. Reported by Brian Schmalz.
yweng36 0:a0391774b0e5 137 /// Precompute sqrt_twoa to improve performance and max possible stepping speed
yweng36 0:a0391774b0e5 138 /// \version 1.22 Added Bounce.pde example
yweng36 0:a0391774b0e5 139 /// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more
yweng36 0:a0391774b0e5 140 /// frequently than the step time, even
yweng36 0:a0391774b0e5 141 /// with the same values, would interfere with speed calcs. Now a new speed is computed
yweng36 0:a0391774b0e5 142 /// only if there was a change in the set value. Reported by Brian Schmalz.
yweng36 0:a0391774b0e5 143 /// \version 1.23 Rewrite of the speed algorithms in line with
yweng36 0:a0391774b0e5 144 /// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
yweng36 0:a0391774b0e5 145 /// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
yweng36 0:a0391774b0e5 146 /// function was removed.
yweng36 0:a0391774b0e5 147 /// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned
yweng36 0:a0391774b0e5 148 /// \version 1.25 Now ignore attempts to set acceleration to 0.0
yweng36 0:a0391774b0e5 149 /// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause
yweng36 0:a0391774b0e5 150 /// oscillation about the target position.
yweng36 0:a0391774b0e5 151 /// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters.
yweng36 0:a0391774b0e5 152 /// Also added new Quickstop example showing its use.
yweng36 0:a0391774b0e5 153 /// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause
yweng36 0:a0391774b0e5 154 /// oscillation about the target position.
yweng36 0:a0391774b0e5 155 /// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
yweng36 0:a0391774b0e5 156 /// Contributed by Yuri Ivatchkovitch.
yweng36 0:a0391774b0e5 157 /// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step
yweng36 0:a0391774b0e5 158 /// with some sketches. Reported by Vadim.
yweng36 0:a0391774b0e5 159 /// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of
yweng36 0:a0391774b0e5 160 /// accelerated travel with certain speeds. Reported and patched by jolo.
yweng36 0:a0391774b0e5 161 /// \version 1.31 Updated author and distribution location details to airspayce.com
yweng36 0:a0391774b0e5 162 /// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
yweng36 0:a0391774b0e5 163 /// prevented the enable pin changing stae correctly. Reported by Duane Bishop.
yweng36 0:a0391774b0e5 164 /// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
yweng36 0:a0391774b0e5 165 /// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
yweng36 0:a0391774b0e5 166 /// Unfortunately this meant changing the signature for all step*() functions.
yweng36 0:a0391774b0e5 167 /// Added example MotorShield, showing how to use AdaFruit Motor Shield to control
yweng36 0:a0391774b0e5 168 /// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
yweng36 0:a0391774b0e5 169 /// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
yweng36 0:a0391774b0e5 170 /// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
yweng36 0:a0391774b0e5 171 /// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with
yweng36 0:a0391774b0e5 172 /// setPinsInverted(bool, bool, bool). Reported by Mac Mac.
yweng36 0:a0391774b0e5 173 /// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
yweng36 0:a0391774b0e5 174 /// Added new optional argument 'enable' to constructor, which allows you toi disable the
yweng36 0:a0391774b0e5 175 /// automatic enabling of outputs at construction time. Suggested by Guido.
yweng36 0:a0391774b0e5 176 /// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the
yweng36 0:a0391774b0e5 177 /// wrong direction (or not,
yweng36 0:a0391774b0e5 178 /// depending on the setup-time requirements of the connected hardware).
yweng36 0:a0391774b0e5 179 /// Reported by Mark Tillotson.
yweng36 0:a0391774b0e5 180 /// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
yweng36 0:a0391774b0e5 181 /// if the motor is still running to the target position.
yweng36 0:a0391774b0e5 182 /// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
yweng36 0:a0391774b0e5 183 /// \version 1.40 Updated documentation, including testing on Teensy 3.1
yweng36 0:a0391774b0e5 184 /// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
yweng36 0:a0391774b0e5 185 /// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
yweng36 0:a0391774b0e5 186 /// contribution but did not make it into production.<br>
yweng36 0:a0391774b0e5 187 /// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
yweng36 0:a0391774b0e5 188 /// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
yweng36 0:a0391774b0e5 189 /// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
yweng36 0:a0391774b0e5 190 /// was missing from the distribution.<br>
yweng36 0:a0391774b0e5 191 /// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
yweng36 0:a0391774b0e5 192 /// acceleration. Reported by Michael Newman.<br>
yweng36 0:a0391774b0e5 193 /// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
yweng36 0:a0391774b0e5 194 /// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
yweng36 0:a0391774b0e5 195 /// \version 1.46 Fixed error in documentation for runToPosition().
yweng36 0:a0391774b0e5 196 /// Reinstated time calculations in runSpeed() since new version is reported
yweng36 0:a0391774b0e5 197 /// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
yweng36 0:a0391774b0e5 198
yweng36 0:a0391774b0e5 199 ///
yweng36 0:a0391774b0e5 200 /// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
yweng36 0:a0391774b0e5 201 // Copyright (C) 2009-2013 Mike McCauley
yweng36 0:a0391774b0e5 202 // $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $
yweng36 0:a0391774b0e5 203
yweng36 0:a0391774b0e5 204 #ifndef AccelStepper_h
yweng36 0:a0391774b0e5 205 #define AccelStepper_h
yweng36 0:a0391774b0e5 206
yweng36 0:a0391774b0e5 207 #include <stdlib.h>
yweng36 0:a0391774b0e5 208 #include <mbed.h>
yweng36 0:a0391774b0e5 209 #define max(a,b) (((a) > (b)) ? (a) : (b))
yweng36 0:a0391774b0e5 210 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
yweng36 0:a0391774b0e5 211 #define LOW false
yweng36 0:a0391774b0e5 212 #define HIGH true
yweng36 0:a0391774b0e5 213 //#if ARDUINO >= 100
yweng36 0:a0391774b0e5 214 //#include <Arduino.h>
yweng36 0:a0391774b0e5 215 //#else
yweng36 0:a0391774b0e5 216 //#include <WProgram.h>
yweng36 0:a0391774b0e5 217 //#include <wiring.h>
yweng36 0:a0391774b0e5 218 //#endif
yweng36 0:a0391774b0e5 219
yweng36 0:a0391774b0e5 220 // These defs cause trouble on some versions of Arduino
yweng36 0:a0391774b0e5 221 #undef round
yweng36 0:a0391774b0e5 222
yweng36 0:a0391774b0e5 223 /////////////////////////////////////////////////////////////////////
yweng36 0:a0391774b0e5 224 /// \class AccelStepper AccelStepper.h <AccelStepper.h>
yweng36 0:a0391774b0e5 225 /// \brief Support for stepper motors with acceleration etc.
yweng36 0:a0391774b0e5 226 ///
yweng36 0:a0391774b0e5 227 /// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
yweng36 0:a0391774b0e5 228 /// acceleration, deceleration, absolute positioning commands etc. Multiple
yweng36 0:a0391774b0e5 229 /// simultaneous steppers are supported, all moving
yweng36 0:a0391774b0e5 230 /// at different speeds and accelerations.
yweng36 0:a0391774b0e5 231 ///
yweng36 0:a0391774b0e5 232 /// \par Operation
yweng36 0:a0391774b0e5 233 /// This module operates by computing a step time in microseconds. The step
yweng36 0:a0391774b0e5 234 /// time is recomputed after each step and after speed and acceleration
yweng36 0:a0391774b0e5 235 /// parameters are changed by the caller. The time of each step is recorded in
yweng36 0:a0391774b0e5 236 /// microseconds. The run() function steps the motor once if a new step is due.
yweng36 0:a0391774b0e5 237 /// The run() function must be called frequently until the motor is in the
yweng36 0:a0391774b0e5 238 /// desired position, after which time run() will do nothing.
yweng36 0:a0391774b0e5 239 ///
yweng36 0:a0391774b0e5 240 /// \par Positioning
yweng36 0:a0391774b0e5 241 /// Positions are specified by a signed long integer. At
yweng36 0:a0391774b0e5 242 /// construction time, the current position of the motor is consider to be 0. Positive
yweng36 0:a0391774b0e5 243 /// positions are clockwise from the initial position; negative positions are
yweng36 0:a0391774b0e5 244 /// anticlockwise. The current position can be altered for instance after
yweng36 0:a0391774b0e5 245 /// initialization positioning.
yweng36 0:a0391774b0e5 246 ///
yweng36 0:a0391774b0e5 247 /// \par Caveats
yweng36 0:a0391774b0e5 248 /// This is an open loop controller: If the motor stalls or is oversped,
yweng36 0:a0391774b0e5 249 /// AccelStepper will not have a correct
yweng36 0:a0391774b0e5 250 /// idea of where the motor really is (since there is no feedback of the motor's
yweng36 0:a0391774b0e5 251 /// real position. We only know where we _think_ it is, relative to the
yweng36 0:a0391774b0e5 252 /// initial starting point).
yweng36 0:a0391774b0e5 253 ///
yweng36 0:a0391774b0e5 254 /// \par Performance
yweng36 0:a0391774b0e5 255 /// The fastest motor speed that can be reliably supported is about 4000 steps per
yweng36 0:a0391774b0e5 256 /// second at a clock frequency of 16 MHz on Arduino such as Uno etc.
yweng36 0:a0391774b0e5 257 /// Faster processors can support faster stepping speeds.
yweng36 0:a0391774b0e5 258 /// However, any speed less than that
yweng36 0:a0391774b0e5 259 /// down to very slow speeds (much less than one per second) are also supported,
yweng36 0:a0391774b0e5 260 /// provided the run() function is called frequently enough to step the motor
yweng36 0:a0391774b0e5 261 /// whenever required for the speed set.
yweng36 0:a0391774b0e5 262 /// Calling setAcceleration() is expensive,
yweng36 0:a0391774b0e5 263 /// since it requires a square root to be calculated.
yweng36 0:a0391774b0e5 264 class AccelStepper
yweng36 0:a0391774b0e5 265 {
yweng36 0:a0391774b0e5 266 public:
yweng36 0:a0391774b0e5 267 /// \brief Symbolic names for number of pins.
yweng36 0:a0391774b0e5 268 /// Use this in the pins argument the AccelStepper constructor to
yweng36 0:a0391774b0e5 269 /// provide a symbolic name for the number of pins
yweng36 0:a0391774b0e5 270 /// to use.
yweng36 0:a0391774b0e5 271 typedef enum
yweng36 0:a0391774b0e5 272 {
yweng36 0:a0391774b0e5 273 FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
yweng36 0:a0391774b0e5 274 DRIVER = 1, ///< Stepper Driver, 2 driver pins required
yweng36 0:a0391774b0e5 275 FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
yweng36 0:a0391774b0e5 276 FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
yweng36 0:a0391774b0e5 277 FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
yweng36 0:a0391774b0e5 278 HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
yweng36 0:a0391774b0e5 279 HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required
yweng36 0:a0391774b0e5 280 } MotorInterfaceType;
yweng36 0:a0391774b0e5 281
yweng36 0:a0391774b0e5 282 /// Constructor. You can have multiple simultaneous steppers, all moving
yweng36 0:a0391774b0e5 283 /// at different speeds and accelerations, provided you call their run()
yweng36 0:a0391774b0e5 284 /// functions at frequent enough intervals. Current Position is set to 0, target
yweng36 0:a0391774b0e5 285 /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
yweng36 0:a0391774b0e5 286 /// The motor pins will be initialised to OUTPUT mode during the
yweng36 0:a0391774b0e5 287 /// constructor by a call to enableOutputs().
yweng36 0:a0391774b0e5 288 /// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are
yweng36 0:a0391774b0e5 289 /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names.
yweng36 0:a0391774b0e5 290 /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
yweng36 0:a0391774b0e5 291 /// If an enable line is also needed, call setEnablePin() after construction.
yweng36 0:a0391774b0e5 292 /// You may also invert the pins using setPinsInverted().
yweng36 0:a0391774b0e5 293 /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required).
yweng36 0:a0391774b0e5 294 /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required).
yweng36 0:a0391774b0e5 295 /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required).
yweng36 0:a0391774b0e5 296 /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
yweng36 0:a0391774b0e5 297 /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
yweng36 0:a0391774b0e5 298 /// Defaults to AccelStepper::FULL4WIRE (4) pins.
yweng36 0:a0391774b0e5 299 /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
yweng36 0:a0391774b0e5 300 /// to pin 2. For a AccelStepper::DRIVER (interface==1),
yweng36 0:a0391774b0e5 301 /// this is the Step input to the driver. Low to high transition means to step)
yweng36 0:a0391774b0e5 302 /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
yweng36 0:a0391774b0e5 303 /// to pin 3. For a AccelStepper::DRIVER (interface==1),
yweng36 0:a0391774b0e5 304 /// this is the Direction input the driver. High means forward.
yweng36 0:a0391774b0e5 305 /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
yweng36 0:a0391774b0e5 306 /// to pin 4.
yweng36 0:a0391774b0e5 307 /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
yweng36 0:a0391774b0e5 308 /// to pin 5.
yweng36 0:a0391774b0e5 309 /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
yweng36 0:a0391774b0e5 310 /// the output pins at construction time.
yweng36 0:a0391774b0e5 311 // AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
yweng36 0:a0391774b0e5 312 AccelStepper(uint8_t interface, PinName pin1 = LED1, PinName pin2 = LED2, PinName pin3 = LED3, PinName pin4 = LED4, bool enable = true);
yweng36 0:a0391774b0e5 313
yweng36 0:a0391774b0e5 314 /// Alternate Constructor which will call your own functions for forward and backward steps.
yweng36 0:a0391774b0e5 315 /// You can have multiple simultaneous steppers, all moving
yweng36 0:a0391774b0e5 316 /// at different speeds and accelerations, provided you call their run()
yweng36 0:a0391774b0e5 317 /// functions at frequent enough intervals. Current Position is set to 0, target
yweng36 0:a0391774b0e5 318 /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
yweng36 0:a0391774b0e5 319 /// Any motor initialization should happen before hand, no pins are used or initialized.
yweng36 0:a0391774b0e5 320 /// \param[in] forward void-returning procedure that will make a forward step
yweng36 0:a0391774b0e5 321 /// \param[in] backward void-returning procedure that will make a backward step
yweng36 0:a0391774b0e5 322 AccelStepper(void (*forward)(), void (*backward)());
yweng36 0:a0391774b0e5 323
yweng36 0:a0391774b0e5 324 /// Set the target position. The run() function will try to move the motor (at most one step per call)
yweng36 0:a0391774b0e5 325 /// from the current position to the target position set by the most
yweng36 0:a0391774b0e5 326 /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step.
yweng36 0:a0391774b0e5 327 /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
yweng36 0:a0391774b0e5 328 /// \param[in] absolute The desired absolute position. Negative is
yweng36 0:a0391774b0e5 329 /// anticlockwise from the 0 position.
yweng36 0:a0391774b0e5 330 void moveTo(long absolute);
yweng36 0:a0391774b0e5 331
yweng36 0:a0391774b0e5 332 /// Set the target position relative to the current position
yweng36 0:a0391774b0e5 333 /// \param[in] relative The desired position relative to the current position. Negative is
yweng36 0:a0391774b0e5 334 /// anticlockwise from the current position.
yweng36 0:a0391774b0e5 335 void move(long relative);
yweng36 0:a0391774b0e5 336
yweng36 0:a0391774b0e5 337 /// Poll the motor and step it if a step is due, implementing
yweng36 0:a0391774b0e5 338 /// accelerations and decelerations to acheive the target position. You must call this as
yweng36 0:a0391774b0e5 339 /// frequently as possible, but at least once per minimum step time interval,
yweng36 0:a0391774b0e5 340 /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
yweng36 0:a0391774b0e5 341 /// based on the current speed and the time since the last step.
yweng36 0:a0391774b0e5 342 /// \return true if the motor is still running to the target position.
yweng36 0:a0391774b0e5 343 bool run();
yweng36 0:a0391774b0e5 344
yweng36 0:a0391774b0e5 345 /// Poll the motor and step it if a step is due, implementing a constant
yweng36 0:a0391774b0e5 346 /// speed as set by the most recent call to setSpeed(). You must call this as
yweng36 0:a0391774b0e5 347 /// frequently as possible, but at least once per step interval,
yweng36 0:a0391774b0e5 348 /// \return true if the motor was stepped.
yweng36 0:a0391774b0e5 349 bool runSpeed();
yweng36 0:a0391774b0e5 350
yweng36 0:a0391774b0e5 351 /// Sets the maximum permitted speed. The run() function will accelerate
yweng36 0:a0391774b0e5 352 /// up to the speed set by this function.
yweng36 0:a0391774b0e5 353 /// Caution: the maximum speed achievable depends on your processor and clock speed.
yweng36 0:a0391774b0e5 354 /// \param[in] speed The desired maximum speed in steps per second. Must
yweng36 0:a0391774b0e5 355 /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
yweng36 0:a0391774b0e5 356 /// Result in non-linear accelerations and decelerations.
yweng36 0:a0391774b0e5 357 void setMaxSpeed(float speed);
yweng36 0:a0391774b0e5 358
yweng36 0:a0391774b0e5 359 /// Sets the acceleration/deceleration rate.
yweng36 0:a0391774b0e5 360 /// \param[in] acceleration The desired acceleration in steps per second
yweng36 0:a0391774b0e5 361 /// per second. Must be > 0.0. This is an expensive call since it requires a square
yweng36 0:a0391774b0e5 362 /// root to be calculated. Dont call more ofthen than needed
yweng36 0:a0391774b0e5 363 void setAcceleration(float acceleration);
yweng36 0:a0391774b0e5 364
yweng36 0:a0391774b0e5 365 /// Sets the desired constant speed for use with runSpeed().
yweng36 0:a0391774b0e5 366 /// \param[in] speed The desired constant speed in steps per
yweng36 0:a0391774b0e5 367 /// second. Positive is clockwise. Speeds of more than 1000 steps per
yweng36 0:a0391774b0e5 368 /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
yweng36 0:a0391774b0e5 369 /// once per hour, approximately. Speed accuracy depends on the Arduino
yweng36 0:a0391774b0e5 370 /// crystal. Jitter depends on how frequently you call the runSpeed() function.
yweng36 0:a0391774b0e5 371 void setSpeed(float speed);
yweng36 0:a0391774b0e5 372
yweng36 0:a0391774b0e5 373 /// The most recently set speed
yweng36 0:a0391774b0e5 374 /// \return the most recent speed in steps per second
yweng36 0:a0391774b0e5 375 float speed();
yweng36 0:a0391774b0e5 376
yweng36 0:a0391774b0e5 377 /// The distance from the current position to the target position.
yweng36 0:a0391774b0e5 378 /// \return the distance from the current position to the target position
yweng36 0:a0391774b0e5 379 /// in steps. Positive is clockwise from the current position.
yweng36 0:a0391774b0e5 380 long distanceToGo();
yweng36 0:a0391774b0e5 381
yweng36 0:a0391774b0e5 382 /// The most recently set target position.
yweng36 0:a0391774b0e5 383 /// \return the target position
yweng36 0:a0391774b0e5 384 /// in steps. Positive is clockwise from the 0 position.
yweng36 0:a0391774b0e5 385 long targetPosition();
yweng36 0:a0391774b0e5 386
yweng36 0:a0391774b0e5 387 /// The currently motor position.
yweng36 0:a0391774b0e5 388 /// \return the current motor position
yweng36 0:a0391774b0e5 389 /// in steps. Positive is clockwise from the 0 position.
yweng36 0:a0391774b0e5 390 long currentPosition();
yweng36 0:a0391774b0e5 391
yweng36 0:a0391774b0e5 392 /// Resets the current position of the motor, so that wherever the motor
yweng36 0:a0391774b0e5 393 /// happens to be right now is considered to be the new 0 position. Useful
yweng36 0:a0391774b0e5 394 /// for setting a zero position on a stepper after an initial hardware
yweng36 0:a0391774b0e5 395 /// positioning move.
yweng36 0:a0391774b0e5 396 /// Has the side effect of setting the current motor speed to 0.
yweng36 0:a0391774b0e5 397 /// \param[in] position The position in steps of wherever the motor
yweng36 0:a0391774b0e5 398 /// happens to be right now.
yweng36 0:a0391774b0e5 399 void setCurrentPosition(long position);
yweng36 0:a0391774b0e5 400
yweng36 0:a0391774b0e5 401 /// Moves the motor (with acceleration/deceleration)
yweng36 0:a0391774b0e5 402 /// to the target position and blocks until it is at
yweng36 0:a0391774b0e5 403 /// position. Dont use this in event loops, since it blocks.
yweng36 0:a0391774b0e5 404 void runToPosition();
yweng36 0:a0391774b0e5 405
yweng36 0:a0391774b0e5 406 /// Runs at the currently selected speed until the target position is reached
yweng36 0:a0391774b0e5 407 /// Does not implement accelerations.
yweng36 0:a0391774b0e5 408 /// \return true if it stepped
yweng36 0:a0391774b0e5 409 bool runSpeedToPosition();
yweng36 0:a0391774b0e5 410
yweng36 0:a0391774b0e5 411 /// Moves the motor (with acceleration/deceleration)
yweng36 0:a0391774b0e5 412 /// to the new target position and blocks until it is at
yweng36 0:a0391774b0e5 413 /// position. Dont use this in event loops, since it blocks.
yweng36 0:a0391774b0e5 414 /// \param[in] position The new target position.
yweng36 0:a0391774b0e5 415 void runToNewPosition(long position);
yweng36 0:a0391774b0e5 416
yweng36 0:a0391774b0e5 417 /// Sets a new target position that causes the stepper
yweng36 0:a0391774b0e5 418 /// to stop as quickly as possible, using the current speed and acceleration parameters.
yweng36 0:a0391774b0e5 419 void stop();
yweng36 0:a0391774b0e5 420
yweng36 0:a0391774b0e5 421 /// Disable motor pin outputs by setting them all LOW
yweng36 0:a0391774b0e5 422 /// Depending on the design of your electronics this may turn off
yweng36 0:a0391774b0e5 423 /// the power to the motor coils, saving power.
yweng36 0:a0391774b0e5 424 /// This is useful to support Arduino low power modes: disable the outputs
yweng36 0:a0391774b0e5 425 /// during sleep and then reenable with enableOutputs() before stepping
yweng36 0:a0391774b0e5 426 /// again.
yweng36 0:a0391774b0e5 427 virtual void disableOutputs();
yweng36 0:a0391774b0e5 428
yweng36 0:a0391774b0e5 429 /// Enable motor pin outputs by setting the motor pins to OUTPUT
yweng36 0:a0391774b0e5 430 /// mode. Called automatically by the constructor.
yweng36 0:a0391774b0e5 431 virtual void enableOutputs();
yweng36 0:a0391774b0e5 432
yweng36 0:a0391774b0e5 433 /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is
yweng36 0:a0391774b0e5 434 /// approximately 20 microseconds. Times less than 20 microseconds
yweng36 0:a0391774b0e5 435 /// will usually result in 20 microseconds or so.
yweng36 0:a0391774b0e5 436 /// \param[in] minWidth The minimum pulse width in microseconds.
yweng36 0:a0391774b0e5 437 void setMinPulseWidth(unsigned int minWidth);
yweng36 0:a0391774b0e5 438
yweng36 0:a0391774b0e5 439 /// Sets the enable pin number for stepper drivers.
yweng36 0:a0391774b0e5 440 /// 0xFF indicates unused (default).
yweng36 0:a0391774b0e5 441 /// Otherwise, if a pin is set, the pin will be turned on when
yweng36 0:a0391774b0e5 442 /// enableOutputs() is called and switched off when disableOutputs()
yweng36 0:a0391774b0e5 443 /// is called.
yweng36 0:a0391774b0e5 444 /// \param[in] enablePin Arduino digital pin number for motor enable
yweng36 0:a0391774b0e5 445 /// \sa setPinsInverted
yweng36 0:a0391774b0e5 446 void setEnablePin(PinName enablePin);
yweng36 0:a0391774b0e5 447
yweng36 0:a0391774b0e5 448 /// Sets the inversion for stepper driver pins
yweng36 0:a0391774b0e5 449 /// \param[in] directionInvert True for inverted direction pin, false for non-inverted
yweng36 0:a0391774b0e5 450 /// \param[in] stepInvert True for inverted step pin, false for non-inverted
yweng36 0:a0391774b0e5 451 /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
yweng36 0:a0391774b0e5 452 void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
yweng36 0:a0391774b0e5 453
yweng36 0:a0391774b0e5 454 /// Sets the inversion for 2, 3 and 4 wire stepper pins
yweng36 0:a0391774b0e5 455 /// \param[in] pin1Invert True for inverted pin1, false for non-inverted
yweng36 0:a0391774b0e5 456 /// \param[in] pin2Invert True for inverted pin2, false for non-inverted
yweng36 0:a0391774b0e5 457 /// \param[in] pin3Invert True for inverted pin3, false for non-inverted
yweng36 0:a0391774b0e5 458 /// \param[in] pin4Invert True for inverted pin4, false for non-inverted
yweng36 0:a0391774b0e5 459 /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
yweng36 0:a0391774b0e5 460 void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
yweng36 0:a0391774b0e5 461
yweng36 0:a0391774b0e5 462 protected:
yweng36 0:a0391774b0e5 463 DigitalOut *_pin0;
yweng36 0:a0391774b0e5 464 DigitalOut *_pin1;
yweng36 0:a0391774b0e5 465 DigitalOut *_pin2;
yweng36 0:a0391774b0e5 466 DigitalOut *_pin3;
yweng36 0:a0391774b0e5 467
yweng36 0:a0391774b0e5 468 /// \brief Direction indicator
yweng36 0:a0391774b0e5 469 /// Symbolic names for the direction the motor is turning
yweng36 0:a0391774b0e5 470 typedef enum
yweng36 0:a0391774b0e5 471 {
yweng36 0:a0391774b0e5 472 DIRECTION_CCW = 0, ///< Clockwise
yweng36 0:a0391774b0e5 473 DIRECTION_CW = 1 ///< Counter-Clockwise
yweng36 0:a0391774b0e5 474 } Direction;
yweng36 0:a0391774b0e5 475
yweng36 0:a0391774b0e5 476 /// Forces the library to compute a new instantaneous speed and set that as
yweng36 0:a0391774b0e5 477 /// the current speed. It is called by
yweng36 0:a0391774b0e5 478 /// the library:
yweng36 0:a0391774b0e5 479 /// \li after each step
yweng36 0:a0391774b0e5 480 /// \li after change to maxSpeed through setMaxSpeed()
yweng36 0:a0391774b0e5 481 /// \li after change to acceleration through setAcceleration()
yweng36 0:a0391774b0e5 482 /// \li after change to target position (relative or absolute) through
yweng36 0:a0391774b0e5 483 /// move() or moveTo()
yweng36 0:a0391774b0e5 484 void computeNewSpeed();
yweng36 0:a0391774b0e5 485
yweng36 0:a0391774b0e5 486 /// Low level function to set the motor output pins
yweng36 0:a0391774b0e5 487 /// bit 0 of the mask corresponds to _pin[0]
yweng36 0:a0391774b0e5 488 /// bit 1 of the mask corresponds to _pin[1]
yweng36 0:a0391774b0e5 489 /// You can override this to impment, for example serial chip output insted of using the
yweng36 0:a0391774b0e5 490 /// output pins directly
yweng36 0:a0391774b0e5 491 virtual void setOutputPins(uint8_t mask);
yweng36 0:a0391774b0e5 492
yweng36 0:a0391774b0e5 493 /// Called to execute a step. Only called when a new step is
yweng36 0:a0391774b0e5 494 /// required. Subclasses may override to implement new stepping
yweng36 0:a0391774b0e5 495 /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
yweng36 0:a0391774b0e5 496 /// number of pins defined for the stepper.
yweng36 0:a0391774b0e5 497 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 498 virtual void step(long step);
yweng36 0:a0391774b0e5 499
yweng36 0:a0391774b0e5 500 /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
yweng36 0:a0391774b0e5 501 /// required. Calls _forward() or _backward() to perform the step
yweng36 0:a0391774b0e5 502 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 503 virtual void step0(long step);
yweng36 0:a0391774b0e5 504
yweng36 0:a0391774b0e5 505 /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
yweng36 0:a0391774b0e5 506 /// required. Subclasses may override to implement new stepping
yweng36 0:a0391774b0e5 507 /// interfaces. The default sets or clears the outputs of Step pin1 to step,
yweng36 0:a0391774b0e5 508 /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
yweng36 0:a0391774b0e5 509 /// which is the minimum STEP pulse width for the 3967 driver.
yweng36 0:a0391774b0e5 510 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 511 virtual void step1(long step);
yweng36 0:a0391774b0e5 512
yweng36 0:a0391774b0e5 513 /// Called to execute a step on a 2 pin motor. Only called when a new step is
yweng36 0:a0391774b0e5 514 /// required. Subclasses may override to implement new stepping
yweng36 0:a0391774b0e5 515 /// interfaces. The default sets or clears the outputs of pin1 and pin2
yweng36 0:a0391774b0e5 516 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 517 virtual void step2(long step);
yweng36 0:a0391774b0e5 518
yweng36 0:a0391774b0e5 519 /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
yweng36 0:a0391774b0e5 520 /// required. Subclasses may override to implement new stepping
yweng36 0:a0391774b0e5 521 /// interfaces. The default sets or clears the outputs of pin1, pin2,
yweng36 0:a0391774b0e5 522 /// pin3
yweng36 0:a0391774b0e5 523 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 524 virtual void step3(long step);
yweng36 0:a0391774b0e5 525
yweng36 0:a0391774b0e5 526 /// Called to execute a step on a 4 pin motor. Only called when a new step is
yweng36 0:a0391774b0e5 527 /// required. Subclasses may override to implement new stepping
yweng36 0:a0391774b0e5 528 /// interfaces. The default sets or clears the outputs of pin1, pin2,
yweng36 0:a0391774b0e5 529 /// pin3, pin4.
yweng36 0:a0391774b0e5 530 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 531 virtual void step4(long step);
yweng36 0:a0391774b0e5 532
yweng36 0:a0391774b0e5 533 /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
yweng36 0:a0391774b0e5 534 /// required. Subclasses may override to implement new stepping
yweng36 0:a0391774b0e5 535 /// interfaces. The default sets or clears the outputs of pin1, pin2,
yweng36 0:a0391774b0e5 536 /// pin3
yweng36 0:a0391774b0e5 537 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 538 virtual void step6(long step);
yweng36 0:a0391774b0e5 539
yweng36 0:a0391774b0e5 540 /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
yweng36 0:a0391774b0e5 541 /// required. Subclasses may override to implement new stepping
yweng36 0:a0391774b0e5 542 /// interfaces. The default sets or clears the outputs of pin1, pin2,
yweng36 0:a0391774b0e5 543 /// pin3, pin4.
yweng36 0:a0391774b0e5 544 /// \param[in] step The current step phase number (0 to 7)
yweng36 0:a0391774b0e5 545 virtual void step8(long step);
yweng36 0:a0391774b0e5 546
yweng36 0:a0391774b0e5 547 private:
yweng36 0:a0391774b0e5 548 /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
yweng36 0:a0391774b0e5 549 /// bipolar, and 4 pins is a unipolar.
yweng36 0:a0391774b0e5 550 uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType
yweng36 0:a0391774b0e5 551
yweng36 0:a0391774b0e5 552 /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
yweng36 0:a0391774b0e5 553 /// stepper motor or driver
yweng36 0:a0391774b0e5 554 uint8_t _pin[4];
yweng36 0:a0391774b0e5 555
yweng36 0:a0391774b0e5 556 /// Whether the _pins is inverted or not
yweng36 0:a0391774b0e5 557 uint8_t _pinInverted[4];
yweng36 0:a0391774b0e5 558
yweng36 0:a0391774b0e5 559 /// The current absolution position in steps.
yweng36 0:a0391774b0e5 560 long _currentPos; // Steps
yweng36 0:a0391774b0e5 561
yweng36 0:a0391774b0e5 562 /// The target position in steps. The AccelStepper library will move the
yweng36 0:a0391774b0e5 563 /// motor from the _currentPos to the _targetPos, taking into account the
yweng36 0:a0391774b0e5 564 /// max speed, acceleration and deceleration
yweng36 0:a0391774b0e5 565 long _targetPos; // Steps
yweng36 0:a0391774b0e5 566
yweng36 0:a0391774b0e5 567 /// The current motos speed in steps per second
yweng36 0:a0391774b0e5 568 /// Positive is clockwise
yweng36 0:a0391774b0e5 569 float _speed; // Steps per second
yweng36 0:a0391774b0e5 570
yweng36 0:a0391774b0e5 571 /// The maximum permitted speed in steps per second. Must be > 0.
yweng36 0:a0391774b0e5 572 float _maxSpeed;
yweng36 0:a0391774b0e5 573
yweng36 0:a0391774b0e5 574 /// The acceleration to use to accelerate or decelerate the motor in steps
yweng36 0:a0391774b0e5 575 /// per second per second. Must be > 0
yweng36 0:a0391774b0e5 576 float _acceleration;
yweng36 0:a0391774b0e5 577 float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
yweng36 0:a0391774b0e5 578
yweng36 0:a0391774b0e5 579 /// The current interval between steps in microseconds.
yweng36 0:a0391774b0e5 580 /// 0 means the motor is currently stopped with _speed == 0
yweng36 0:a0391774b0e5 581 unsigned long _stepInterval;
yweng36 0:a0391774b0e5 582
yweng36 0:a0391774b0e5 583 /// The last step time in microseconds
yweng36 0:a0391774b0e5 584 unsigned long _lastStepTime;
yweng36 0:a0391774b0e5 585
yweng36 0:a0391774b0e5 586 /// The minimum allowed pulse width in microseconds
yweng36 0:a0391774b0e5 587 unsigned int _minPulseWidth;
yweng36 0:a0391774b0e5 588
yweng36 0:a0391774b0e5 589 /// Is the direction pin inverted?
yweng36 0:a0391774b0e5 590 ///bool _dirInverted; /// Moved to _pinInverted[1]
yweng36 0:a0391774b0e5 591
yweng36 0:a0391774b0e5 592 /// Is the step pin inverted?
yweng36 0:a0391774b0e5 593 ///bool _stepInverted; /// Moved to _pinInverted[0]
yweng36 0:a0391774b0e5 594
yweng36 0:a0391774b0e5 595 /// Is the enable pin inverted?
yweng36 0:a0391774b0e5 596 bool _enableInverted;
yweng36 0:a0391774b0e5 597
yweng36 0:a0391774b0e5 598 /// Enable pin for stepper driver, or 0xFF if unused.
yweng36 0:a0391774b0e5 599 //uint8_t _enablePin;
yweng36 0:a0391774b0e5 600 DigitalOut *_enablePin;
yweng36 0:a0391774b0e5 601
yweng36 0:a0391774b0e5 602 /// The pointer to a forward-step procedure
yweng36 0:a0391774b0e5 603 void (*_forward)();
yweng36 0:a0391774b0e5 604
yweng36 0:a0391774b0e5 605 /// The pointer to a backward-step procedure
yweng36 0:a0391774b0e5 606 void (*_backward)();
yweng36 0:a0391774b0e5 607
yweng36 0:a0391774b0e5 608 /// The step counter for speed calculations
yweng36 0:a0391774b0e5 609 long _n;
yweng36 0:a0391774b0e5 610
yweng36 0:a0391774b0e5 611 /// Initial step size in microseconds
yweng36 0:a0391774b0e5 612 float _c0;
yweng36 0:a0391774b0e5 613
yweng36 0:a0391774b0e5 614 /// Last step size in microseconds
yweng36 0:a0391774b0e5 615 float _cn;
yweng36 0:a0391774b0e5 616
yweng36 0:a0391774b0e5 617 /// Min step size in microseconds based on maxSpeed
yweng36 0:a0391774b0e5 618 float _cmin; // at max speed
yweng36 0:a0391774b0e5 619
yweng36 0:a0391774b0e5 620 /// Current direction motor is spinning in
yweng36 0:a0391774b0e5 621 bool _direction; // 1 == CW
yweng36 0:a0391774b0e5 622
yweng36 0:a0391774b0e5 623 };
yweng36 0:a0391774b0e5 624
yweng36 0:a0391774b0e5 625 /// @example Random.pde
yweng36 0:a0391774b0e5 626 /// Make a single stepper perform random changes in speed, position and acceleration
yweng36 0:a0391774b0e5 627
yweng36 0:a0391774b0e5 628 /// @example Overshoot.pde
yweng36 0:a0391774b0e5 629 /// Check overshoot handling
yweng36 0:a0391774b0e5 630 /// which sets a new target position and then waits until the stepper has
yweng36 0:a0391774b0e5 631 /// achieved it. This is used for testing the handling of overshoots
yweng36 0:a0391774b0e5 632
yweng36 0:a0391774b0e5 633 /// @example MultiStepper.pde
yweng36 0:a0391774b0e5 634 /// Shows how to multiple simultaneous steppers
yweng36 0:a0391774b0e5 635 /// Runs one stepper forwards and backwards, accelerating and decelerating
yweng36 0:a0391774b0e5 636 /// at the limits. Runs other steppers at the same time
yweng36 0:a0391774b0e5 637
yweng36 0:a0391774b0e5 638 /// @example ConstantSpeed.pde
yweng36 0:a0391774b0e5 639 /// Shows how to run AccelStepper in the simplest,
yweng36 0:a0391774b0e5 640 /// fixed speed mode with no accelerations
yweng36 0:a0391774b0e5 641
yweng36 0:a0391774b0e5 642 /// @example Blocking.pde
yweng36 0:a0391774b0e5 643 /// Shows how to use the blocking call runToNewPosition
yweng36 0:a0391774b0e5 644 /// Which sets a new target position and then waits until the stepper has
yweng36 0:a0391774b0e5 645 /// achieved it.
yweng36 0:a0391774b0e5 646
yweng36 0:a0391774b0e5 647 /// @example AFMotor_MultiStepper.pde
yweng36 0:a0391774b0e5 648 /// Control both Stepper motors at the same time with different speeds
yweng36 0:a0391774b0e5 649 /// and accelerations.
yweng36 0:a0391774b0e5 650
yweng36 0:a0391774b0e5 651 /// @example AFMotor_ConstantSpeed.pde
yweng36 0:a0391774b0e5 652 /// Shows how to run AccelStepper in the simplest,
yweng36 0:a0391774b0e5 653 /// fixed speed mode with no accelerations
yweng36 0:a0391774b0e5 654
yweng36 0:a0391774b0e5 655 /// @example ProportionalControl.pde
yweng36 0:a0391774b0e5 656 /// Make a single stepper follow the analog value read from a pot or whatever
yweng36 0:a0391774b0e5 657 /// The stepper will move at a constant speed to each newly set posiiton,
yweng36 0:a0391774b0e5 658 /// depending on the value of the pot.
yweng36 0:a0391774b0e5 659
yweng36 0:a0391774b0e5 660 /// @example Bounce.pde
yweng36 0:a0391774b0e5 661 /// Make a single stepper bounce from one limit to another, observing
yweng36 0:a0391774b0e5 662 /// accelrations at each end of travel
yweng36 0:a0391774b0e5 663
yweng36 0:a0391774b0e5 664 /// @example Quickstop.pde
yweng36 0:a0391774b0e5 665 /// Check stop handling.
yweng36 0:a0391774b0e5 666 /// Calls stop() while the stepper is travelling at full speed, causing
yweng36 0:a0391774b0e5 667 /// the stepper to stop as quickly as possible, within the constraints of the
yweng36 0:a0391774b0e5 668 /// current acceleration.
yweng36 0:a0391774b0e5 669
yweng36 0:a0391774b0e5 670 /// @example MotorShield.pde
yweng36 0:a0391774b0e5 671 /// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
yweng36 0:a0391774b0e5 672 /// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
yweng36 0:a0391774b0e5 673
yweng36 0:a0391774b0e5 674 /// @example DualMotorShield.pde
yweng36 0:a0391774b0e5 675 /// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
yweng36 0:a0391774b0e5 676 /// Itead Studio Arduino Dual Stepper Motor Driver Shield
yweng36 0:a0391774b0e5 677 /// model IM120417015
yweng36 0:a0391774b0e5 678
yweng36 0:a0391774b0e5 679 #endif
yweng36 0:a0391774b0e5 680