Diff: StepperMotor.cpp

Revision:

0:5253455d51ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor.cpp	Sat Jul 07 09:12:06 2012 +0000
@@ -0,0 +1,148 @@
+#include "StepperMotor.h"
+#include "mbed.h"
+
+//Table for motor steps
+static uint8_t ptn_ClockWise_1x1[]     = {0x01, 0x02, 0x04, 0x08};
+static uint8_t ptn_AntiClockWise_1x1[] = {0x08, 0x04, 0x02, 0x01};
+
+static uint8_t ptn_ClockWise_2x2[]     = {0x03, 0x06, 0x0C, 0x09};
+static uint8_t ptn_AntiClockWise_2x2[] = {0x09, 0x0C, 0x06, 0x03};
+
+static uint8_t ptn_ClockWise_1x2[]     = {0x03, 0x02, 0x06, 0x04, 0x0C, 0x08, 0x09, 0x01};
+static uint8_t ptn_AntiClockWise_1x2[] = {0x01, 0x09, 0x08, 0x0C, 0x04, 0x06, 0x02, 0x03};
+
+static speed_data_t speed_data [] =
+{
+    {     1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 0
+    {1000*2,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 1
+    {500*2, 5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 2
+    {333*2, 5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 3
+    {250*2, 5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 4
+    {200,   7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 5
+    {167,   8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 6
+    {143,   8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 7
+    {125,   9,ptn_ClockWise_1x1,ptn_AntiClockWise_2x2,4},   // 8
+    {111,  10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},   // 9
+    {100,  10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}    // 10
+};
+
+
+
+// Constractor
+StepperMotor::StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no)
+        : _x(x_pin_no), _y(y_pin_no), _nx(nx_pin_no), _ny(ny_pin_no) {
+}
+
+// Destrutctor
+StepperMotor::~StepperMotor() {
+}
+
+//
+void StepperMotor::PulseEnable(void) {
+    Pulse.attach_us(this,&StepperMotor::SetPulse14us,PULSE_INTERVAL);
+}
+
+//
+void StepperMotor::PulseDisable(void) {
+    Pulse.detach();
+}
+
+void StepperMotor::SetSpeed(int speed, motor_dir direction) {
+
+    if (speed > 10) speed = 10;
+    if (speed < 0) speed =0;
+
+
+    pwm_ratio = speed_data[speed].pwm_ratio;
+    max_pulse_count = speed_data[speed].max_pulse_count;
+    
+    if (direction == CLOCK_WISE) {
+        ptn = speed_data[speed].clockwise_ptn;
+    }
+    else {
+        ptn = speed_data[speed].anticlockwise_ptn;        
+    }
+    ptn_count = speed_data[speed].ptn_count;
+
+    pulse_count = 0;
+    ptn_index = 0;
+
+    pwm_on_count = pwm_ratio;
+    pwm_off_count = 10 - pwm_ratio;
+
+    state = PWM_ON;
+}
+
+
+/* private functions */
+
+void StepperMotor::SetPulse14us(void) {
+
+    if (++pulse_count == max_pulse_count) {
+        pulse_count = 0;
+
+        if (++ptn_index == ptn_count) {
+            ptn_index = 0;
+        }
+        ptn_data = ptn[ptn_index];
+    }
+
+    if (pwm_ratio == 10) {
+        PulseOut();
+    } else if (pwm_ratio == 0) {
+        PulseStop();
+    } else {
+        switch (state) {
+            case PWM_ON:
+                if (--pwm_on_count !=0) {
+                    PulseOut();
+                } else {
+                    pwm_on_count = pwm_ratio;
+                    state = PWM_OFF;
+                }
+                break;
+            case PWM_OFF:
+                if (--pwm_off_count != 0) {
+                    PulseStop();
+                } else {
+                    pwm_off_count = 10 - pwm_ratio;
+                    state = PWM_ON;
+                }
+                break;
+        }
+    }
+}
+
+void StepperMotor::PulseOut(void) {
+    //X
+    if ((ptn_data & 0x01) == 0x01) {
+        _x = 1;
+    } else {
+        _x = 0;
+    }
+    //Y
+    if ((ptn_data & 0x02) == 0x02) {
+        _y = 1;
+    } else {
+        _y = 0;
+    }
+    //Negative X
+    if ((ptn_data & 0x04) == 0x04) {
+        _nx = 1;
+    } else {
+        _nx = 0;
+    }
+    //Negative Y
+    if ((ptn_data & 0x08) == 0x08) {
+        _ny = 1;
+    } else {
+        _ny = 0;
+    }
+}
+
+void StepperMotor::PulseStop(void) {
+    _x = 0;
+    _y = 0;
+    _nx = 0;
+    _ny = 0;
+}