Hiroshi M
/
StepperMotor
倒立振子ロボットで使用してるユニポーラのステッピングモータの駆動テストプログラムです。
Diff: StepperMotor.h
- Revision:
- 0:5253455d51ec
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/StepperMotor.h Sat Jul 07 09:12:06 2012 +0000 @@ -0,0 +1,73 @@ +/* Copyright (C) 2012 mbed.org, MIT License + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of this software + * and associated documentation files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, publish, distribute, + * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all copies or + * substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + + +#ifndef MBED_STEPPER_MOTOR_H +#define MBED_STEPPER_MOTOR_H + +#include "mbed.h" + +typedef enum {PWM_ON, PWM_OFF} pwm_state; +typedef enum {CLOCK_WISE, ANTI_CLOCK_WISE} motor_dir; + +struct speed_data_t { + int max_pulse_count; + int pwm_ratio; + uint8_t *clockwise_ptn; + uint8_t *anticlockwise_ptn; + int ptn_count; +}; + +#define PULSE_INTERVAL 14 // 13us + +class StepperMotor +{ +public: + StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no); + ~StepperMotor(); + + void SetSpeed(int speed, motor_dir direction); + void PulseEnable(void); + void PulseDisable(void); + +private: + pwm_state state; + motor_dir direction; + int ptn_index; + int ptn_count; + int pwm_ratio; + int pwm_on_count; + int pwm_off_count; + int max_pulse_count; + int pulse_count; + uint8_t *ptn; + uint8_t ptn_data; + + DigitalOut _x; + DigitalOut _y; + DigitalOut _nx; + DigitalOut _ny; + + Ticker Pulse; + + void SetPulse14us(void); + void PulseOut(void); + void PulseStop(void); +}; + +#endif