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。
StepperMotor.h
- Committer:
- bant62
- Date:
- 2012-07-07
- Revision:
- 0:5253455d51ec
File content as of revision 0:5253455d51ec:
/* 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