Hiroshi M
/
UniStepperMotor
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UniStepperMotor.cpp
00001 /** 00002 ***************************************************************************** 00003 * File Name : UniStepperMotor.cpp 00004 * 00005 * Title : Unipolar Stepper Motor Class Source File 00006 * Revision : 0.1 00007 * Notes : 00008 * Target Board : mbed NXP LPC1768 00009 * Tool Chain : ???? 00010 * 00011 * Revision History: 00012 * When Who Description of change 00013 * ----------- ----------- ----------------------- 00014 * 2012/07/8 Hiroshi M init 00015 ***************************************************************************** 00016 * 00017 * Copyright (C) 2012 Hiroshi M, MIT License 00018 * 00019 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 00020 * and associated documentation files (the "Software"), to deal in the Software without restriction, 00021 * including without limitation the rights to use, copy, modify, merge, publish, distribute, 00022 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 00023 * furnished to do so, subject to the following conditions: 00024 * 00025 * The above copyright notice and this permission notice shall be included in all copies or 00026 * substantial portions of the Software. 00027 * 00028 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 00029 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 00030 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 00031 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00032 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00033 * 00034 **/ 00035 00036 /* Includes ----------------------------------------------------------------- */ 00037 #include "UniStepperMotor.h" 00038 #include "mbed.h" 00039 00040 /* Private typedef ---------------------------------------------------------- */ 00041 /* Private define ----------------------------------------------------------- */ 00042 /* Private macro ------------------------------------------------------------ */ 00043 /* Private variables -------------------------------------------------------- */ 00044 00045 static uint8_t ptn_ClockWise_1x1[] = {0x01, 0x02, 0x04, 0x08}; 00046 static uint8_t ptn_AntiClockWise_1x1[] = {0x08, 0x04, 0x02, 0x01}; 00047 00048 static uint8_t ptn_ClockWise_2x2[] = {0x03, 0x06, 0x0C, 0x09}; 00049 static uint8_t ptn_AntiClockWise_2x2[] = {0x09, 0x0C, 0x06, 0x03}; 00050 00051 static uint8_t ptn_ClockWise_1x2[] = {0x03, 0x02, 0x06, 0x04, 0x0C, 0x08, 0x09, 0x01}; 00052 static uint8_t ptn_AntiClockWise_1x2[] = {0x01, 0x09, 0x08, 0x0C, 0x04, 0x06, 0x02, 0x03}; 00053 00054 #if MAXSPEED == 10 00055 static speed_data_t speed_data [] = 00056 { 00057 { 1, 0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 0 00058 {500, 4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 1 500*2 => 1000 00059 {250, 4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 2 250*2 => 500 00060 {166, 4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 3 166*2 => 332 00061 {125, 6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 4 125*2 => 250 00062 {100, 6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, // 5 100*2 => 200 00063 {167, 8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, // 6 00064 {143, 8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, // 7 00065 {125, 9,ptn_ClockWise_1x1,ptn_AntiClockWise_2x2,4}, // 8 00066 {111, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, // 9 00067 {100, 10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4} // 10 00068 }; 00069 00070 #elif MAXSPEED == 63 00071 static speed_data_t speed_data [] = 00072 { 00073 {1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00074 {3150,2,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00075 {1575,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00076 {1050,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00077 {788,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00078 {630,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00079 {525,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00080 {450,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00081 {394,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00082 {350,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00083 {315,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00084 {286,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00085 {263,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00086 {242,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00087 {225,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00088 {210,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00089 {197,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00090 {185,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00091 {175,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00092 {166,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00093 {158,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00094 {150,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00095 {143,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00096 {137,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00097 {131,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00098 {126,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00099 {121,6,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00100 {233,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00101 {225,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00102 {217,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00103 {210,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00104 {203,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00105 {197,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00106 {191,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00107 {185,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00108 {180,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00109 {175,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00110 {170,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00111 {166,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00112 {162,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00113 {158,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00114 {154,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00115 {150,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00116 {147,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00117 {143,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00118 {140,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00119 {137,8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00120 {134,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00121 {131,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00122 {129,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00123 {126,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00124 {124,9,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00125 {121,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00126 {119,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00127 {117,9,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00128 {115,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00129 {113,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00130 {111,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00131 {109,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00132 {107,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00133 {105,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00134 {103,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00135 {102,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00136 {100,10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4} 00137 }; 00138 00139 #else 00140 static speed_data_t speed_data [] = 00141 { 00142 {1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00143 {6400,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00144 {4267,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00145 {3200,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00146 {2560,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00147 {2134,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00148 {1829,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00149 {1600,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00150 {1422,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00151 {1280,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00152 {1164,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00153 {1067,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00154 {985,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00155 {915,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00156 {854,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00157 {800,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00158 {753,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00159 {711,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00160 {674,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00161 {640,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00162 {610,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00163 {582,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00164 {557,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00165 {534,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00166 {512,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00167 {493,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00168 {474,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00169 {457,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00170 {442,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00171 {427,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00172 {413,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00173 {400,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00174 {388,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00175 {377,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00176 {366,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00177 {356,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00178 {346,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00179 {337,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00180 {328,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00181 {320,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00182 {312,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00183 {305,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00184 {298,3,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00185 {291,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00186 {285,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00187 {279,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00188 {273,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00189 {267,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00190 {261,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00191 {256,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00192 {251,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00193 {246,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00194 {242,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00195 {237,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00196 {233,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00197 {229,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00198 {225,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00199 {221,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00200 {217,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00201 {214,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00202 {210,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00203 {207,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00204 {203,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00205 {200,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00206 {197,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00207 {194,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00208 {191,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00209 {188,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00210 {186,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00211 {183,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00212 {181,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00213 {178,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00214 {176,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00215 {173,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00216 {171,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00217 {169,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00218 {166,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00219 {164,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00220 {162,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00221 {160,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00222 {158,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00223 {156,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00224 {154,4,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00225 {153,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00226 {151,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8}, 00227 {298,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00228 {294,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00229 {291,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00230 {288,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00231 {284,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00232 {281,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00233 {278,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00234 {275,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00235 {272,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00236 {269,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00237 {267,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00238 {264,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00239 {261,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00240 {259,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00241 {256,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00242 {253,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00243 {251,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00244 {249,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00245 {246,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00246 {244,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00247 {242,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00248 {239,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00249 {237,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00250 {235,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00251 {233,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00252 {231,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00253 {229,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00254 {227,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00255 {225,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00256 {223,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00257 {221,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00258 {219,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00259 {217,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00260 {215,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00261 {213,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00262 {212,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00263 {210,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00264 {208,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00265 {206,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00266 {205,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00267 {203,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00268 {202,5,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00269 {200,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00270 {198,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00271 {197,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00272 {195,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00273 {194,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00274 {192,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00275 {191,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00276 {190,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00277 {188,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00278 {187,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00279 {186,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00280 {184,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00281 {183,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00282 {182,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00283 {180,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00284 {179,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00285 {178,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00286 {177,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00287 {175,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00288 {174,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00289 {173,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00290 {172,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00291 {171,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00292 {170,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00293 {168,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00294 {167,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00295 {166,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00296 {165,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00297 {164,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00298 {163,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00299 {162,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00300 {161,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00301 {160,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00302 {159,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00303 {158,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00304 {157,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00305 {156,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00306 {155,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00307 {154,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00308 {153,6,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00309 {152,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00310 {151,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00311 {151,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00312 {150,7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4}, 00313 {149,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00314 {148,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00315 {147,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00316 {146,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00317 {145,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00318 {145,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00319 {144,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00320 {143,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00321 {142,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00322 {141,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00323 {141,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00324 {140,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00325 {139,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00326 {138,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00327 {138,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00328 {137,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00329 {136,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00330 {135,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00331 {135,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00332 {134,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00333 {133,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00334 {133,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00335 {132,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00336 {131,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00337 {131,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00338 {130,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00339 {129,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00340 {129,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00341 {128,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00342 {127,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00343 {127,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00344 {126,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00345 {125,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00346 {125,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00347 {124,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00348 {124,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00349 {123,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00350 {122,7,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00351 {122,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00352 {121,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00353 {121,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00354 {120,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00355 {120,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00356 {119,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00357 {119,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00358 {118,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00359 {117,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00360 {117,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00361 {116,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00362 {116,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00363 {115,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00364 {115,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00365 {114,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00366 {114,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00367 {113,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00368 {113,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00369 {112,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00370 {112,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00371 {111,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00372 {111,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00373 {110,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00374 {110,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00375 {109,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00376 {109,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00377 {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00378 {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00379 {108,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00380 {107,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00381 {107,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00382 {106,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00383 {106,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00384 {105,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00385 {105,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00386 {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00387 {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00388 {104,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00389 {103,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00390 {103,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00391 {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00392 {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00393 {102,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00394 {101,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00395 {101,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00396 {100,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}, 00397 {100,8,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4} 00398 }; 00399 #endif 00400 00401 /* member fanctions --------------------------------------------------------- */ 00402 00403 // Constractor 00404 StepperMotor::StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no, motor_dir set_direction) 00405 : _x(x_pin_no), _y(y_pin_no), _nx(nx_pin_no), _ny(ny_pin_no) 00406 { 00407 direction = forward_direction; 00408 forward_direction = set_direction; 00409 backward_direction = (forward_direction == CLOCK_WISE) ? ANTI_CLOCK_WISE : CLOCK_WISE; 00410 } 00411 00412 // Destrutctor 00413 StepperMotor::~StepperMotor() 00414 { 00415 } 00416 00417 // 00418 void StepperMotor::PulseEnable(void) 00419 { 00420 Pulse.attach_us(this,&StepperMotor::SetPulse14us,PULSE_INTERVAL); 00421 } 00422 00423 // 00424 void StepperMotor::PulseDisable(void) 00425 { 00426 Pulse.detach(); 00427 } 00428 00429 void StepperMotor::SetSpeed(int speed) 00430 { 00431 direction = (speed >= 0) ? forward_direction : backward_direction; 00432 00433 speed = abs(speed); 00434 if (speed > MAXSPEED) speed = MAXSPEED; 00435 00436 pwm_ratio = speed_data[speed].pwm_ratio; 00437 max_pulse_count = speed_data[speed].max_pulse_count; 00438 00439 if (direction == CLOCK_WISE) 00440 { 00441 ptn = speed_data[speed].clockwise_ptn; 00442 } 00443 else 00444 { 00445 ptn = speed_data[speed].anticlockwise_ptn; 00446 } 00447 ptn_count = speed_data[speed].ptn_count; 00448 00449 pulse_count = 0; 00450 ptn_index = 0; 00451 00452 pwm_on_count = pwm_ratio; 00453 pwm_off_count = 10 - pwm_ratio; 00454 00455 state = PWM_ON; 00456 } 00457 00458 00459 /* private functions */ 00460 00461 void StepperMotor::SetPulse14us(void) 00462 { 00463 00464 if (++pulse_count == max_pulse_count) 00465 { 00466 pulse_count = 0; 00467 00468 if (++ptn_index == ptn_count) 00469 { 00470 ptn_index = 0; 00471 } 00472 ptn_data = ptn[ptn_index]; 00473 } 00474 00475 if (pwm_ratio == 10) 00476 { 00477 PulseOut(); 00478 } 00479 else if (pwm_ratio == 0) 00480 { 00481 PulseStop(); 00482 } 00483 else 00484 { 00485 switch (state) 00486 { 00487 case PWM_ON: 00488 if (--pwm_on_count !=0) 00489 { 00490 PulseOut(); 00491 } 00492 else 00493 { 00494 pwm_on_count = pwm_ratio; 00495 state = PWM_OFF; 00496 } 00497 break; 00498 case PWM_OFF: 00499 if (--pwm_off_count != 0) 00500 { 00501 PulseStop(); 00502 } 00503 else 00504 { 00505 pwm_off_count = 10 - pwm_ratio; 00506 state = PWM_ON; 00507 } 00508 break; 00509 } 00510 } 00511 } 00512 00513 void StepperMotor::PulseOut(void) 00514 { 00515 //X 00516 if ((ptn_data & 0x01) == 0x01) 00517 { 00518 _x = 1; 00519 } 00520 else 00521 { 00522 _x = 0; 00523 } 00524 //Y 00525 if ((ptn_data & 0x02) == 0x02) 00526 { 00527 _y = 1; 00528 } 00529 else 00530 { 00531 _y = 0; 00532 } 00533 //Negative X 00534 if ((ptn_data & 0x04) == 0x04) 00535 { 00536 _nx = 1; 00537 } 00538 else 00539 { 00540 _nx = 0; 00541 } 00542 //Negative Y 00543 if ((ptn_data & 0x08) == 0x08) 00544 { 00545 _ny = 1; 00546 } 00547 else 00548 { 00549 _ny = 0; 00550 } 00551 } 00552 00553 void StepperMotor::PulseStop(void) 00554 { 00555 _x = 0; 00556 _y = 0; 00557 _nx = 0; 00558 _ny = 0; 00559 }
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