Matteus Car / stepperTest

Teste de passos

stepper.h@0:3c2829d3f80f, 2020-04-13 (annotated)

Committer:
MatteusCarr
Date:
Mon Apr 13 14:07:16 2020 +0000
Revision:
0:3c2829d3f80f
Teste da biblioteca de passos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MatteusCarr 0:3c2829d3f80f 1 /* mbed Stepper Library
MatteusCarr 0:3c2829d3f80f 2 * Copyright (c) 2010 fachatz
MatteusCarr 0:3c2829d3f80f 3 *
MatteusCarr 0:3c2829d3f80f 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
MatteusCarr 0:3c2829d3f80f 5 * of this software and associated documentation files (the "Software"), to deal
MatteusCarr 0:3c2829d3f80f 6 * in the Software without restriction, including without limitation the rights
MatteusCarr 0:3c2829d3f80f 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
MatteusCarr 0:3c2829d3f80f 8 * copies of the Software, and to permit persons to whom the Software is
MatteusCarr 0:3c2829d3f80f 9 * furnished to do so, subject to the following conditions:
MatteusCarr 0:3c2829d3f80f 10 *
MatteusCarr 0:3c2829d3f80f 11 * The above copyright notice and this permission notice shall be included in
MatteusCarr 0:3c2829d3f80f 12 * all copies or substantial portions of the Software.
MatteusCarr 0:3c2829d3f80f 13 *
MatteusCarr 0:3c2829d3f80f 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
MatteusCarr 0:3c2829d3f80f 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
MatteusCarr 0:3c2829d3f80f 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
MatteusCarr 0:3c2829d3f80f 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
MatteusCarr 0:3c2829d3f80f 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
MatteusCarr 0:3c2829d3f80f 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
MatteusCarr 0:3c2829d3f80f 20 * THE SOFTWARE.
MatteusCarr 0:3c2829d3f80f 21 */
MatteusCarr 0:3c2829d3f80f 22 #ifndef MBED_STEPPER_H
MatteusCarr 0:3c2829d3f80f 23 #define MBED_STEPPER_H
MatteusCarr 0:3c2829d3f80f 24
MatteusCarr 0:3c2829d3f80f 25 #include "mbed.h"
MatteusCarr 0:3c2829d3f80f 26
MatteusCarr 0:3c2829d3f80f 27 /** Stepper control class
MatteusCarr 0:3c2829d3f80f 28 *
MatteusCarr 0:3c2829d3f80f 29 * Example:
MatteusCarr 0:3c2829d3f80f 30 * @code
MatteusCarr 0:3c2829d3f80f 31 * // apply number of steps, direction, speed and
MatteusCarr 0:3c2829d3f80f 32 * // a linear acceleration/deceleration to a Stepper Motor Controller
MatteusCarr 0:3c2829d3f80f 33 * #include "mbed.h"
MatteusCarr 0:3c2829d3f80f 34 * #include "stepper.h"
MatteusCarr 0:3c2829d3f80f 35 *
MatteusCarr 0:3c2829d3f80f 36 * #define ACCEL_ON 1
MatteusCarr 0:3c2829d3f80f 37 * #define ACCEL_OFF 0
MatteusCarr 0:3c2829d3f80f 38 * #define SPEED 100
MatteusCarr 0:3c2829d3f80f 39 *
MatteusCarr 0:3c2829d3f80f 40 * stepper x(P18,P21);
MatteusCarr 0:3c2829d3f80f 41 * stepper y(P19,P22);
MatteusCarr 0:3c2829d3f80f 42 * stepper z(P20,P23);
MatteusCarr 0:3c2829d3f80f 43 *
MatteusCarr 0:3c2829d3f80f 44 * int main()
MatteusCarr 0:3c2829d3f80f 45 * {
MatteusCarr 0:3c2829d3f80f 46 * x.step(1000,1,SPEED,ACCEL_ON);
MatteusCarr 0:3c2829d3f80f 47 * y.step(5000,0,SPEED,ACCEL_ON);
MatteusCarr 0:3c2829d3f80f 48 * z.step(2000,1,SPEED,ACCEL_ON);
MatteusCarr 0:3c2829d3f80f 49 *
MatteusCarr 0:3c2829d3f80f 50 * }
MatteusCarr 0:3c2829d3f80f 51 * @endcode
MatteusCarr 0:3c2829d3f80f 52 */
MatteusCarr 0:3c2829d3f80f 53 class stepper {
MatteusCarr 0:3c2829d3f80f 54
MatteusCarr 0:3c2829d3f80f 55 public:
MatteusCarr 0:3c2829d3f80f 56
MatteusCarr 0:3c2829d3f80f 57 /** Create a stepper object connected to the specified clk pin and dir pin
MatteusCarr 0:3c2829d3f80f 58 *
MatteusCarr 0:3c2829d3f80f 59 * @param pin clk pin to connect to
MatteusCarr 0:3c2829d3f80f 60 * @param pin dir pin to connect to
MatteusCarr 0:3c2829d3f80f 61 */
MatteusCarr 0:3c2829d3f80f 62 stepper(PinName clk, PinName dir);
MatteusCarr 0:3c2829d3f80f 63
MatteusCarr 0:3c2829d3f80f 64 /** Set number of steps to direction with speed and
MatteusCarr 0:3c2829d3f80f 65 * a linear acceleration/deceleration [on/off]
MatteusCarr 0:3c2829d3f80f 66 * to a Stepper Motor Controller
MatteusCarr 0:3c2829d3f80f 67 *
MatteusCarr 0:3c2829d3f80f 68 * @param n_steps number of steps to go
MatteusCarr 0:3c2829d3f80f 69 * @param direction 1 or 0
MatteusCarr 0:3c2829d3f80f 70 * @param time value for value in us
MatteusCarr 0:3c2829d3f80f 71 * @param accel 1 or 0 for accel/decel [on/off]
MatteusCarr 0:3c2829d3f80f 72 */
MatteusCarr 0:3c2829d3f80f 73 void step(int n_steps, bool direction, int speed, bool accel);
MatteusCarr 0:3c2829d3f80f 74
MatteusCarr 0:3c2829d3f80f 75 /** get version number
MatteusCarr 0:3c2829d3f80f 76 *
MatteusCarr 0:3c2829d3f80f 77 * @param returns Library version number
MatteusCarr 0:3c2829d3f80f 78 */
MatteusCarr 0:3c2829d3f80f 79 float version(void);
MatteusCarr 0:3c2829d3f80f 80
MatteusCarr 0:3c2829d3f80f 81 private:
MatteusCarr 0:3c2829d3f80f 82 DigitalOut _clk;
MatteusCarr 0:3c2829d3f80f 83 DigitalOut _dir;
MatteusCarr 0:3c2829d3f80f 84
MatteusCarr 0:3c2829d3f80f 85 };
MatteusCarr 0:3c2829d3f80f 86
MatteusCarr 0:3c2829d3f80f 87 #endif