Revision 0:5253455d51ec, committed 2012-07-07

Comitter:

bant62

Date:

Sat Jul 07 09:12:06 2012 +0000

Commit message:

Changed in this revision

--- /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;
+}

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jul 07 09:12:06 2012 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include "StepperMotor.h"
+
+BusOut myleds(LED1, LED2, LED3, LED4);
+
+Serial pc(USBTX, USBRX);
+
+DigitalOut ae_fxma108(p29);
+
+DigitalIn pb(p19);
+DigitalIn pw(p20);
+
+const char Welcome_Message[] =
+    "\r\nHello mbed World!\r\n"
+    "Expand your creativity and enjoy making.\r\n\r\n"
+    "Stepper Motor Test Mode.\r\n\r\n";
+
+
+StepperMotor r_motor(p28,p27,p26,p25);
+StepperMotor l_motor(p24,p23,p22,p21);
+
+int main() {
+    pc.printf(Welcome_Message);
+
+    int old_pb=0;
+    int new_pb;
+    int old_pw=0;
+    int new_pw;
+    static int speed = 0;
+
+    pb.mode(PullUp);
+    pw.mode(PullUp);
+
+    ae_fxma108 = 0;
+
+    r_motor.SetSpeed(speed,CLOCK_WISE);
+    l_motor.SetSpeed(speed,ANTI_CLOCK_WISE);
+ 
+     r_motor.PulseEnable();
+    l_motor.PulseEnable();
+
+    while(1) {
+        new_pb = pb;
+        if ((new_pb==0) && (old_pb==1)) {
+            if (speed == 0) continue;
+            speed--;
+            pc.printf("speed: %d\r\n",speed);
+            r_motor.SetSpeed(speed,CLOCK_WISE);
+            l_motor.SetSpeed(speed,ANTI_CLOCK_WISE);
+        }
+        old_pb = new_pb;
+    
+    
+        new_pw = pw;
+        if ((new_pw==0) && (old_pw==1)) {
+            if (speed == 10) continue;
+            speed++;
+            
+            pc.printf("speed: %d\r\n",speed);
+            r_motor.SetSpeed(speed,CLOCK_WISE);
+            l_motor.SetSpeed(speed,ANTI_CLOCK_WISE);
+        }
+        old_pw = new_pw;
+
+        myleds = speed;
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Jul 07 09:12:06 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479