GSL_10-Pololu_A4983_STEPMOTORDRIVER - Generic Step Motor WebInterface - control a step …

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Nelson Neves / GSL_10-Pololu_A4983_STEPMOTORDRIVER

Generic Step Motor WebInterface - control a step motor using a Pololu A4983 driver from a webinterface (EXPERIMENTAL PROTOTYPE - just to be used as a proof-of-concept for a IoT talk, will not be updating this code so often)

Dependencies: EthernetNetIf RPCInterface mbed HTTPServer

A4983StepMotorDriver/A4983.c@0:8b3857d4ce02, 2012-04-16 (annotated)

Committer:: botdream
Date:: Mon Apr 16 09:41:53 2012 +0000
Revision:: 0:8b3857d4ce02

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User	Revision	Line number	New contents of line
botdream	0:8b3857d4ce02	1	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	2	#include "mbed.h"
botdream	0:8b3857d4ce02	3	#include "A4983.h"
botdream	0:8b3857d4ce02	4	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	5	// Pins configuration
botdream	0:8b3857d4ce02	6	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	7	//LEDs port definition on mbed
botdream	0:8b3857d4ce02	8	DigitalOut myled1(LED1);
botdream	0:8b3857d4ce02	9	DigitalOut myled2(LED2);
botdream	0:8b3857d4ce02	10	DigitalOut myled3(LED3);
botdream	0:8b3857d4ce02	11	DigitalOut myled4(LED4);
botdream	0:8b3857d4ce02	12
botdream	0:8b3857d4ce02	13	//ports connected to pololu driver board = straightforward connection of one side of mbed
botdream	0:8b3857d4ce02	14	DigitalOut Dir(p23); //direction of movement
botdream	0:8b3857d4ce02	15	DigitalOut Step(p24); //make one step at rising edge
botdream	0:8b3857d4ce02	16	DigitalOut nSleep(p25); // be HIGH to make it work
botdream	0:8b3857d4ce02	17	DigitalOut nReset(p26); // be HIGH to make it work
botdream	0:8b3857d4ce02	18	DigitalOut MS3(p19); //microstep mode selectors
botdream	0:8b3857d4ce02	19	DigitalOut MS2(p18);
botdream	0:8b3857d4ce02	20	DigitalOut MS1(p17);
botdream	0:8b3857d4ce02	21	DigitalOut nEnable(p27);// be LOW to make it work
botdream	0:8b3857d4ce02	22
botdream	0:8b3857d4ce02	23	#define HIGH 1
botdream	0:8b3857d4ce02	24	#define LOW 0
botdream	0:8b3857d4ce02	25	#define ON 1
botdream	0:8b3857d4ce02	26	#define OFF 0
botdream	0:8b3857d4ce02	27	#define Clockwise LOW
botdream	0:8b3857d4ce02	28	#define CounterClockwise HIGH
botdream	0:8b3857d4ce02	29
botdream	0:8b3857d4ce02	30	//which mode of driver to be used. This is now 1/16 stepping.
botdream	0:8b3857d4ce02	31	#define Factor 16
botdream	0:8b3857d4ce02	32	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	33	// USB serial port setup - debug messages
botdream	0:8b3857d4ce02	34	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	35	Serial pc(USBTX, USBRX); // tx, rx
botdream	0:8b3857d4ce02	36	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	37
botdream	0:8b3857d4ce02	38	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	39	// constructor
botdream	0:8b3857d4ce02	40	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	41	A4983::A4983()
botdream	0:8b3857d4ce02	42	{
botdream	0:8b3857d4ce02	43	//set communication speed
botdream	0:8b3857d4ce02	44	pc.baud(115200);
botdream	0:8b3857d4ce02	45	//test to see if comm is working
botdream	0:8b3857d4ce02	46	printf("\r\nInitialize MBED Serial Port!\r\n");
botdream	0:8b3857d4ce02	47
botdream	0:8b3857d4ce02	48	myled1 = 0;
botdream	0:8b3857d4ce02	49	myled2 = 0;
botdream	0:8b3857d4ce02	50	myled3 = 0;
botdream	0:8b3857d4ce02	51	myled4 = 0;
botdream	0:8b3857d4ce02	52
botdream	0:8b3857d4ce02	53	//-------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	54	// adjust microstepping mode
botdream	0:8b3857d4ce02	55	adjust_microstepping_mode(16);
botdream	0:8b3857d4ce02	56
botdream	0:8b3857d4ce02	57	// initialisation of power stage
botdream	0:8b3857d4ce02	58	Dir = CounterClockwise;
botdream	0:8b3857d4ce02	59	Step = LOW;
botdream	0:8b3857d4ce02	60	nSleep = HIGH;
botdream	0:8b3857d4ce02	61	nEnable = HIGH;
botdream	0:8b3857d4ce02	62	nReset = LOW;
botdream	0:8b3857d4ce02	63	myled1 = 1;
botdream	0:8b3857d4ce02	64	myled2 = 0;
botdream	0:8b3857d4ce02	65	myled3 = 0;
botdream	0:8b3857d4ce02	66	myled4 = 0;
botdream	0:8b3857d4ce02	67
botdream	0:8b3857d4ce02	68	wait(0.5);
botdream	0:8b3857d4ce02	69
botdream	0:8b3857d4ce02	70	nReset = HIGH;
botdream	0:8b3857d4ce02	71	myled1 = 0;
botdream	0:8b3857d4ce02	72	myled2 = 1;
botdream	0:8b3857d4ce02	73	myled3 = 0;
botdream	0:8b3857d4ce02	74	myled4 = 0;
botdream	0:8b3857d4ce02	75
botdream	0:8b3857d4ce02	76	wait(0.5);
botdream	0:8b3857d4ce02	77
botdream	0:8b3857d4ce02	78	nEnable = LOW;
botdream	0:8b3857d4ce02	79	myled1 = 1;
botdream	0:8b3857d4ce02	80	myled2 = 1;
botdream	0:8b3857d4ce02	81	myled3 = 0;
botdream	0:8b3857d4ce02	82	myled4 = 0;
botdream	0:8b3857d4ce02	83
botdream	0:8b3857d4ce02	84	wait(0.5);
botdream	0:8b3857d4ce02	85
botdream	0:8b3857d4ce02	86	Step = HIGH;
botdream	0:8b3857d4ce02	87	myled1 = 0;
botdream	0:8b3857d4ce02	88	myled2 = 0;
botdream	0:8b3857d4ce02	89	myled3 = 1;
botdream	0:8b3857d4ce02	90	myled4 = 0;
botdream	0:8b3857d4ce02	91
botdream	0:8b3857d4ce02	92	wait(0.5);
botdream	0:8b3857d4ce02	93
botdream	0:8b3857d4ce02	94	Step = LOW;
botdream	0:8b3857d4ce02	95	myled1 = 1;
botdream	0:8b3857d4ce02	96	myled2 = 0;
botdream	0:8b3857d4ce02	97	myled3 = 1;
botdream	0:8b3857d4ce02	98	myled4 = 0;
botdream	0:8b3857d4ce02	99
botdream	0:8b3857d4ce02	100	wait(0.5);
botdream	0:8b3857d4ce02	101	//-------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	102
botdream	0:8b3857d4ce02	103	f_motor_enable = 0; // flag to Enable/Disable Step Motor, 0 => Disable, 1 => Enable
botdream	0:8b3857d4ce02	104	f_motor_direction = 0; // flag for the Step Motor direction, 0 => Normal, 1 => Inverted
botdream	0:8b3857d4ce02	105	k_delay = 0.001; // delay constant in seconds (Step Motor Speed)
botdream	0:8b3857d4ce02	106	}
botdream	0:8b3857d4ce02	107	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	108	void A4983::adjust_microstepping_mode(uint8_t factor)
botdream	0:8b3857d4ce02	109	{
botdream	0:8b3857d4ce02	110	if(factor==1)
botdream	0:8b3857d4ce02	111	{
botdream	0:8b3857d4ce02	112	MS1 = LOW;
botdream	0:8b3857d4ce02	113	MS2 = LOW;
botdream	0:8b3857d4ce02	114	MS3 = LOW; // 1/1
botdream	0:8b3857d4ce02	115	}
botdream	0:8b3857d4ce02	116	else if(factor==2)
botdream	0:8b3857d4ce02	117	{
botdream	0:8b3857d4ce02	118	MS1 = HIGH;
botdream	0:8b3857d4ce02	119	MS2 = LOW;
botdream	0:8b3857d4ce02	120	MS3 = LOW; // 1/2
botdream	0:8b3857d4ce02	121	}
botdream	0:8b3857d4ce02	122	else if(factor==4)
botdream	0:8b3857d4ce02	123	{
botdream	0:8b3857d4ce02	124	MS1 = LOW;
botdream	0:8b3857d4ce02	125	MS2 = HIGH;
botdream	0:8b3857d4ce02	126	MS3 = LOW; // 1/4
botdream	0:8b3857d4ce02	127	}
botdream	0:8b3857d4ce02	128	else if(factor==8)
botdream	0:8b3857d4ce02	129	{
botdream	0:8b3857d4ce02	130	MS1 = HIGH;
botdream	0:8b3857d4ce02	131	MS2 = HIGH;
botdream	0:8b3857d4ce02	132	MS3 = LOW; // 1/8
botdream	0:8b3857d4ce02	133	}
botdream	0:8b3857d4ce02	134	else if(factor==16)
botdream	0:8b3857d4ce02	135	{
botdream	0:8b3857d4ce02	136	MS1 = HIGH;
botdream	0:8b3857d4ce02	137	MS2 = HIGH;
botdream	0:8b3857d4ce02	138	MS3 = HIGH; // 1/16
botdream	0:8b3857d4ce02	139	}
botdream	0:8b3857d4ce02	140	}
botdream	0:8b3857d4ce02	141	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	142	// Step function
botdream	0:8b3857d4ce02	143	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	144	void A4983::singlestep()
botdream	0:8b3857d4ce02	145	{
botdream	0:8b3857d4ce02	146	if(Dir != f_motor_direction)
botdream	0:8b3857d4ce02	147	Dir = f_motor_direction;
botdream	0:8b3857d4ce02	148
botdream	0:8b3857d4ce02	149	Step = HIGH;
botdream	0:8b3857d4ce02	150	wait(k_delay/2);
botdream	0:8b3857d4ce02	151
botdream	0:8b3857d4ce02	152	Step = LOW;
botdream	0:8b3857d4ce02	153	wait(k_delay/2);
botdream	0:8b3857d4ce02	154	}
botdream	0:8b3857d4ce02	155	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	156	// Release Motor Command
botdream	0:8b3857d4ce02	157	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	158	void A4983::sleep(bool value)
botdream	0:8b3857d4ce02	159	{
botdream	0:8b3857d4ce02	160	if(value == true)
botdream	0:8b3857d4ce02	161	{
botdream	0:8b3857d4ce02	162	//nEnable = LOW;
botdream	0:8b3857d4ce02	163	nSleep = LOW;
botdream	0:8b3857d4ce02	164	}
botdream	0:8b3857d4ce02	165	else
botdream	0:8b3857d4ce02	166	{
botdream	0:8b3857d4ce02	167	//nEnable = HIGH;
botdream	0:8b3857d4ce02	168	nSleep = HIGH;
botdream	0:8b3857d4ce02	169	}
botdream	0:8b3857d4ce02	170	}
botdream	0:8b3857d4ce02	171	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	172	// check if f_motor_enable is true and call singlestep() - loop mode
botdream	0:8b3857d4ce02	173	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	174	void A4983::looprun()
botdream	0:8b3857d4ce02	175	{
botdream	0:8b3857d4ce02	176	if(f_motor_enable == 1)
botdream	0:8b3857d4ce02	177	{
botdream	0:8b3857d4ce02	178	singlestep();
botdream	0:8b3857d4ce02	179	}
botdream	0:8b3857d4ce02	180	}
botdream	0:8b3857d4ce02	181	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	182	// enable loop mode
botdream	0:8b3857d4ce02	183	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	184	void A4983::loopstart()
botdream	0:8b3857d4ce02	185	{
botdream	0:8b3857d4ce02	186	f_motor_enable = 1;
botdream	0:8b3857d4ce02	187	}
botdream	0:8b3857d4ce02	188	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	189	// disable loop mode
botdream	0:8b3857d4ce02	190	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	191	void A4983::loopstop()
botdream	0:8b3857d4ce02	192	{
botdream	0:8b3857d4ce02	193	f_motor_enable = 0;
botdream	0:8b3857d4ce02	194	}
botdream	0:8b3857d4ce02	195	//---------------------------------------------------------------------------------------------

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Type:	Program
Created:	16 Apr 2012
Imports:	25
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	4
Followers:	3

A4983StepMotorDriver/A4983.c@0:8b3857d4ce02, 2012-04-16 (annotated)

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