Diff: A4983StepMotorDriver/A4983.c

Revision:

0:8b3857d4ce02

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/A4983StepMotorDriver/A4983.c	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,195 @@
+//---------------------------------------------------------------------------------------------
+#include "mbed.h"
+#include "A4983.h"
+//---------------------------------------------------------------------------------------------
+// Pins configuration
+//---------------------------------------------------------------------------------------------
+//LEDs port definition on mbed
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+//ports connected to pololu driver board = straightforward connection of one side of mbed
+DigitalOut Dir(p23); //direction of movement
+DigitalOut Step(p24); //make one step at rising edge
+DigitalOut nSleep(p25); // be HIGH to make it work
+DigitalOut nReset(p26); // be HIGH to make it work
+DigitalOut MS3(p19); //microstep mode selectors
+DigitalOut MS2(p18);
+DigitalOut MS1(p17);
+DigitalOut nEnable(p27);// be LOW to make it work
+
+#define HIGH 1
+#define LOW 0
+#define ON 1
+#define OFF 0
+#define Clockwise LOW
+#define CounterClockwise HIGH
+
+//which mode of driver to be used. This is now 1/16 stepping.
+#define Factor  16
+//---------------------------------------------------------------------------------------------
+// USB serial port setup - debug messages
+//---------------------------------------------------------------------------------------------
+Serial pc(USBTX, USBRX); // tx, rx  
+//---------------------------------------------------------------------------------------------  
+
+//---------------------------------------------------------------------------------------------  
+// constructor
+//---------------------------------------------------------------------------------------------
+A4983::A4983()
+{
+  //set communication speed
+  pc.baud(115200);
+  //test to see if comm is working
+  printf("\r\nInitialize MBED Serial Port!\r\n");
+  
+  myled1 = 0;
+  myled2 = 0;
+  myled3 = 0;
+  myled4 = 0;
+
+  //-------------------------------------------------------------------------------------------
+  // adjust microstepping mode
+  adjust_microstepping_mode(16);
+
+  // initialisation of power stage
+  Dir = CounterClockwise;
+  Step = LOW;
+  nSleep = HIGH;
+  nEnable = HIGH;
+  nReset = LOW;
+  myled1 = 1;
+  myled2 = 0;
+  myled3 = 0;
+  myled4 = 0;
+
+  wait(0.5);
+
+  nReset = HIGH;
+  myled1 = 0;
+  myled2 = 1;
+  myled3 = 0;
+  myled4 = 0;
+
+  wait(0.5);
+
+  nEnable = LOW;
+  myled1 = 1;
+  myled2 = 1;
+  myled3 = 0;
+  myled4 = 0;
+
+  wait(0.5);
+
+  Step = HIGH;
+  myled1 = 0;
+  myled2 = 0;
+  myled3 = 1;
+  myled4 = 0;
+
+  wait(0.5);
+
+  Step = LOW;
+  myled1 = 1;
+  myled2 = 0;
+  myled3 = 1;
+  myled4 = 0;
+
+  wait(0.5);
+  //-------------------------------------------------------------------------------------------
+ 
+  f_motor_enable = 0;    // flag to Enable/Disable Step Motor, 0 => Disable, 1 => Enable
+  f_motor_direction = 0; // flag for the Step Motor direction, 0 => Normal, 1 => Inverted
+  k_delay = 0.001;       // delay constant in seconds (Step Motor Speed)
+}
+//---------------------------------------------------------------------------------------------
+void A4983::adjust_microstepping_mode(uint8_t factor)
+{
+  if(factor==1)
+  {
+    MS1 = LOW;
+    MS2 = LOW;
+    MS3 = LOW;  // 1/1
+  }
+  else if(factor==2)
+  {
+    MS1 = HIGH;
+    MS2 = LOW;
+    MS3 = LOW;  // 1/2
+  }    
+  else if(factor==4)
+  {
+    MS1 = LOW;
+    MS2 = HIGH;
+    MS3 = LOW;  // 1/4
+  }
+  else if(factor==8)
+  { 
+    MS1 = HIGH;
+    MS2 = HIGH;
+    MS3 = LOW;  // 1/8
+  }
+  else if(factor==16)
+  {
+    MS1 = HIGH;
+    MS2 = HIGH;
+    MS3 = HIGH; // 1/16
+  }
+}
+//---------------------------------------------------------------------------------------------
+// Step function
+//---------------------------------------------------------------------------------------------
+void A4983::singlestep()
+{
+  if(Dir != f_motor_direction)
+    Dir = f_motor_direction;
+       
+  Step = HIGH;
+  wait(k_delay/2);
+
+  Step = LOW;
+  wait(k_delay/2);
+}
+//---------------------------------------------------------------------------------------------
+// Release Motor Command
+//---------------------------------------------------------------------------------------------
+void A4983::sleep(bool value)
+{
+  if(value == true)
+  {
+    //nEnable = LOW;
+    nSleep = LOW;
+  }
+  else
+  {
+    //nEnable = HIGH;
+    nSleep = HIGH; 
+  }
+}
+//---------------------------------------------------------------------------------------------
+// check if f_motor_enable is true and call singlestep() - loop mode
+//---------------------------------------------------------------------------------------------
+void A4983::looprun()
+{
+  if(f_motor_enable == 1)  
+  {    
+    singlestep();
+  }  
+}
+//---------------------------------------------------------------------------------------------
+// enable loop mode
+//---------------------------------------------------------------------------------------------
+void A4983::loopstart()
+{
+  f_motor_enable = 1;
+}
+//---------------------------------------------------------------------------------------------
+// disable loop mode
+//---------------------------------------------------------------------------------------------
+void A4983::loopstop()
+{
+  f_motor_enable = 0;
+}
+//---------------------------------------------------------------------------------------------
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