Diff: L6470SDC.h

Revision:

2:2af83d3ccd97

Parent:

1:db64ad30b4b3

Child:

3:486fb90dc7d5

--- a/L6470SDC.h	Fri Jun 05 08:48:29 2015 +0000
+++ b/L6470SDC.h	Tue Jun 09 06:10:11 2015 +0000
@@ -116,7 +116,6 @@
     * Example:
     *     DigitalOut my_cs(D10);
     *     L6470SDC stepper(USBTX, USBRX, SPI_MOSI, SPI_MISO, SPI_SCLK, &my_cs);
-    *                                                                  ~~~~~~
     */
     L6470SDC(PinName tx, PinName rx, PinName mosi, PinName miso, PinName sclk, DigitalOut *csel);
     
@@ -130,7 +129,6 @@
     * Example:
     *     Serial usb_serial(USBTX, USBRX);
     *     L6470SDC stepper(&usb_serial, SPI_MOSI, SPI_MISO, SPI_SCLK, D10);
-    *                      ~~~~~~~~~~~
     */
     L6470SDC(Serial *serial, PinName mosi, PinName miso, PinName sclk, PinName csel);
 
@@ -145,7 +143,6 @@
     *     Serial usb_serial(USBTX, USBRX);
     *     DigitalOut my_cs(D10);
     *     L6470SDC stepper(&usb_serial, SPI_MOSI, SPI_MISO, SPI_SCLK, &my_cs);
-    *                      ~~~~~~~~~~~                                ~~~~~~
     */
     L6470SDC(Serial *serial, PinName mosi, PinName miso, PinName sclk, DigitalOut *csel);
 
@@ -158,7 +155,6 @@
     *     Serial usb_serial(USBTX, USBRX);
     *     SPI my_spi(SPI_MOSI, SPI_MISO, SPI_SCLK);
     *     L6470SDC stepper(&usb_serial, &my_spi, D10);
-    *                      ~~~~~~~~~~~  ~~~~~~~
     */
     L6470SDC(Serial *serial, SPI *spi, PinName csel);
 
@@ -172,7 +168,6 @@
     *     SPI my_spi(SPI_MOSI, SPI_MISO, SPI_SCLK);
     *     DigitalOut my_cs(D10);
     *     L6470SDC stepper(&usb_serial, &my_spi, &my_cs);
-    *                      ~~~~~~~~~~~  ~~~~~~~  ~~~~~~
     */
     L6470SDC(Serial *serial, SPI *spi, DigitalOut *csel);
 
@@ -194,7 +189,6 @@
     * Example:
     *     DigitalOut cs1(D10);
     *     L6470SDC stepper(SPI_MOSI, SPI_MISO, SPI_SCLK, &cs1);
-    *                                                    ~~~~
     */
     L6470SDC(PinName mosi, PinName miso, PinName sclk, DigitalOut *csel);
 
@@ -205,7 +199,6 @@
     * Example:
     *     SPI spi1(SPI_MOSI, SPI_MISO, SPI_SCLK);
     *     L6470SDC stepper(&spi1, D10);
-    *                      ~~~~~
     */
     L6470SDC(SPI *spi, PinName csel);
 
@@ -217,7 +210,6 @@
     *     SPI spi1(SPI_MOSI, SPI_MISO, SPI_SCLK);
     *     DigitalOut cs1(D10);
     *     L6470SDC stepper(&spi1, &cs1);
-    *                      ~~~~~  ~~~~
     */
     L6470SDC(SPI *spi, DigitalOut *csel);
 
@@ -247,36 +239,138 @@
     */
     int getMotorCount();
 
-    /** Get motor Busy-flag status.
+    /** Get motor Busy-flag status
     *
     * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
     * @returns Busy status.(false = Busy-flag 0, true = Busy-flag 1)
     */
     bool isBusy(int motorNumber);
 
-    /** Get motor Busy-flag status.
+    /** Run motor rotate
     *
     * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
     * @param hex_speed Motor rotate speed(hex_value Step/s). -> please use "calcSpd(stepPerSecond)" method.
-    * @param isClockwise clockwise = true. counter clockwise = false.
+    * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
+    * Example:
+    *     unsigned long calculatedValue = motor.calcSpd(200);
+    *     motor.run(1, calculatedValue, true); //200step/s, clockwise
     */
     void run(int motorNumber, unsigned long hex_speed, bool isClockwise);
 
+    /** Run motor steps
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    * @param count Steps count. If using Microstep-mode, "count" must be multiplied by Microstep-value.
+    * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
+    * Example:
+    *     motor.stop(1);
+    *     motor.setStepMode(1, 0x07); //set microstep-mode 0x07 = 1/128 microstep.
+    *     motor.step(1, 256, false); //(256/128)=2 step, counter cloclwise.
+    */
     void step(int motorNumber, unsigned int count, bool isClockwise);
+
+    /** Run motor move
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    * @param stepsCount Steps count. If using Microstep-mode, "stepsCount" must be multiplied by Microstep-value.
+    * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
+    * If less than 5step -> Please use the "step(int motorNumber, unsigned int count, bool isClockwise)".
+    * If greater than 5step -> Please use this method.
+    */
     void move(int motorNumber, unsigned long stepsCount, bool isClockwise);
+
+    /** Go to motor ABS position (shortest path)
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    * @param ABSPos Motor Absolute position.
+    * CAUTION: This method a motion to ABS position through the shortest path.　Rotate direction is not constant.
+    */
     void goto1(int motorNumber, unsigned long ABSPos);
+
+    /** Go to motor ABS position (Specify the rotate direction)
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    * @param ABSPos Motor Absolute position.
+    * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
+    */
     void goto2(int motorNumber, unsigned long ABSPos, bool isClockwise);
+
+    /** ???Run motor rotate. Until external switch status change???
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    * @param hex_speed Motor rotate speed(hex_value Step/s). -> please use "calcSpd(stepPerSecond)" method.
+    * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
+    * @param setMark External switch status?...??.. Sorry... I could not understand. Please see L6470 datasheet.
+    */
     void goUntil(int motorNumber, unsigned long hex_speed, bool isClockwise, bool setMark);
+
+    /** ???Release external switch???
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
+    * @param setMark External switch status?...??.. Sorry... I could not understand. Please see L6470 datasheet.
+    */
     void releaseSwitch(int motorNumber, bool isClockwise, bool setMark);
+
+    /** Go to motor home-position
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void home(int motorNumber);
+
+    /** Go to motor home-position [alias: home(int motorNumber)]
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void zero(int motorNumber);
+
+    /** Go to motor marked-position
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    * Mark Position: -> Please use setMarkPosition(int motorNumber, unsigned long value).
+    */
     void gotoMark(int motorNumber);
+
+    /** Reset the ABS_POS register to zero (ABS_POS zero = home-position)
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void resetHome(int motorNumber);
+
+    /** Reset the ABS_POS register to zero [alias: resetHome(int motorNumber)]
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void resetZero(int motorNumber);
+
+    /** Reset motor device.(software reset)
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void motorReset(int motorNumber);
+
+    /** Stop rotation (soft-stop)
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void stop(int motorNumber);
+
+    /** Stop rotation. Ignore deceleration (hard-stop)
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void stopImmidiate(int motorNumber);
+
+    /** Stop rotation (soft-stop) state sets HighImpedance.
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void stop_HighImpedance(int motorNumber);
+
+    /** Stop rotation. Ignore deceleration (hard-stop) state sets HighImpedance.
+    *
+    * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
+    */
     void stopImmidiate_HighImpedance(int motorNumber);
 
     // calc method -----------------------------------------------------------------------------