StepperMotor.h

00001 /**
00002  ******************************************************************************
00003  * @file    StepperMotor.h
00004  * @author  Davide Aliprandi, STMicroelectronics
00005  * @version V1.1.0
00006  * @date    April 6th, 2016
00007  * @brief   This file contains the abstract class describing the interface of a
00008  *          stepper-motor component.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Define to prevent from recursive inclusion --------------------------------*/
00041 
00042 #ifndef __STEPPERMOTOR_CLASS_H
00043 #define __STEPPERMOTOR_CLASS_H
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 
00048 #include <Component.h>
00049 
00050 
00051 /* Classes  ------------------------------------------------------------------*/
00052 
00053 /**
00054  * An abstract class for StepperMotor components.
00055  */
00056 class StepperMotor : public Component {
00057 public:
00058 
00059     /**
00060      * @brief Rotation modes.
00061      */
00062     typedef enum {
00063         BWD = 0, /* Backward. */
00064         FWD = 1  /* Forward. */
00065     } direction_t;
00066 
00067     /**
00068      * @brief Step modes.
00069      */
00070     typedef enum {
00071         STEP_MODE_FULL = 0, /* Full-step. */
00072         STEP_MODE_HALF,     /* Half-step. */
00073         STEP_MODE_1_4,      /* 1/4 microstep. */
00074         STEP_MODE_1_8,      /* 1/8 microstep. */
00075         STEP_MODE_1_16,     /* 1/16 microstep. */
00076         STEP_MODE_1_32,     /* 1/32 microstep. */
00077         STEP_MODE_1_64,     /* 1/64 microstep. */
00078         STEP_MODE_1_128,    /* 1/128 microstep. */
00079         STEP_MODE_1_256,    /* 1/256 microstep. */
00080         STEP_MODE_UNKNOWN,  /* Unknown. */
00081         STEP_MODE_WAVE      /* Full-step one-phase-on. */
00082     } step_mode_t;
00083 
00084     /**
00085      * @brief  Getting the status.
00086      * @param  None.
00087      * @retval The status.
00088      */
00089     virtual unsigned int get_status(void) = 0;
00090 
00091     /**
00092      * @brief  Getting the position.
00093      * @param  None.
00094      * @retval The position.
00095      */
00096     virtual signed int get_position(void) = 0;
00097 
00098     /**
00099      * @brief  Getting the marked position.
00100      * @param  None.
00101      * @retval The marked position.
00102      */
00103     virtual signed int get_mark(void) = 0;
00104 
00105     /**
00106      * @brief  Getting the current speed in pps.
00107      * @param  None.
00108      * @retval The current speed in pps.
00109      */
00110     virtual unsigned int get_speed(void) = 0;
00111 
00112     /**
00113      * @brief  Getting the maximum speed in pps.
00114      * @param  None.
00115      * @retval The maximum speed in pps.
00116      */
00117     virtual unsigned int get_max_speed(void) = 0;
00118 
00119     /**
00120      * @brief  Getting the minimum speed in pps.
00121      * @param  None.
00122      * @retval The minimum speed in pps.
00123      */
00124     virtual unsigned int get_min_speed(void) = 0;
00125 
00126     /**
00127      * @brief  Getting the acceleration in pps^2.
00128      * @param  None.
00129      * @retval The acceleration in pps^2.
00130      */
00131     virtual unsigned int get_acceleration(void) = 0;
00132 
00133     /**
00134      * @brief  Getting the deceleration in pps^2.
00135      * @param  None.
00136      * @retval The deceleration in pps^2.
00137      */
00138     virtual unsigned int get_deceleration(void) = 0;
00139 
00140     /**
00141      * @brief  Getting the direction of rotation.
00142      * @param  None.
00143      * @retval The direction of rotation.
00144      */
00145     virtual direction_t get_direction(void) = 0;
00146 
00147     /**
00148      * @brief  Setting the current position to be the home position.
00149      * @param  None.
00150      * @retval None.
00151      */
00152     virtual void set_home(void) = 0;
00153 
00154     /**
00155      * @brief  Setting the current position to be the marked position.
00156      * @param  None.
00157      * @retval None.
00158      */
00159     virtual void set_mark(void) = 0;
00160 
00161     /**
00162      * @brief  Setting the maximum speed in pps.
00163      * @param  speed The maximum speed in pps.
00164      * @retval "true" in case of success, "false" otherwise.
00165      */
00166     virtual bool set_max_speed(unsigned int speed) = 0;
00167 
00168     /**
00169      * @brief  Setting the minimum speed in pps.
00170      * @param  speed The minimum speed in pps.
00171      * @retval "true" in case of success, "false" otherwise.
00172      */
00173     virtual bool set_min_speed(unsigned int speed) = 0;
00174 
00175     /**
00176      * @brief  Setting the acceleration in pps^2.
00177      * @param  acceleration The acceleration in pps^2.
00178      * @retval "true" in case of success, "false" otherwise.
00179      */
00180     virtual bool set_acceleration(unsigned int acceleration) = 0;
00181 
00182     /**
00183      * @brief  Setting the deceleration in pps^2.
00184      * @param  deceleration The deceleration in pps^2.
00185      * @retval "true" in case of success, "false" otherwise.
00186      */
00187     virtual bool set_deceleration(unsigned int deceleration) = 0;
00188 
00189     /**
00190      * @brief  Setting the Step Mode.
00191      * @param  step_mode The Step Mode.
00192      * @retval "true" in case of success, "false" otherwise.
00193      */
00194     virtual bool set_step_mode(step_mode_t step_mode) = 0;
00195 
00196     /**
00197      * @brief  Going to a specified position.
00198      * @param  position The desired position.
00199      * @retval None.
00200      */
00201     virtual void go_to(signed int position) = 0;
00202 
00203     /**
00204      * @brief  Going to the home position.
00205      * @param  None.
00206      * @retval None.
00207      */
00208     virtual void go_home(void) = 0;
00209 
00210     /**
00211      * @brief  Going to the marked position.
00212      * @param  None.
00213      * @retval None.
00214      */
00215     virtual void go_mark(void) = 0;
00216 
00217     /**
00218      * @brief  Running the motor towards a specified direction.
00219      * @param  direction The direction of rotation.
00220      * @retval None.
00221      */
00222     virtual void run(direction_t direction) = 0;
00223 
00224     /**
00225      * @brief  Moving the motor towards a specified direction for a certain number of steps.
00226      * @param  direction The direction of rotation.
00227      * @param  steps The desired number of steps.
00228      * @retval None.
00229      */
00230     virtual void move(direction_t direction, unsigned int steps) = 0;
00231 
00232     /**
00233      * @brief  Stopping the motor through an immediate deceleration up to zero speed.
00234      * @param  None.
00235      * @retval None.
00236      */
00237     virtual void soft_stop(void) = 0;
00238 
00239     /**
00240      * @brief  Stopping the motor through an immediate infinite deceleration.
00241      * @param  None.
00242      * @retval None.
00243      */
00244     virtual void hard_stop(void) = 0;
00245 
00246     /**
00247      * @brief  Disabling the power bridge after performing a deceleration to zero.
00248      * @param  None.
00249      * @retval None.
00250      */
00251     virtual void soft_hiz(void) = 0;
00252 
00253     /**
00254      * @brief  Disabling the power bridge immediately.
00255      * @param  None.
00256      * @retval None.
00257      */
00258     virtual void hard_hiz(void) = 0;
00259 
00260     /**
00261      * @brief  Waiting while the motor is active.
00262      * @param  None.
00263      * @retval None.
00264      */
00265     virtual void wait_while_active(void) = 0;
00266 
00267     /**
00268      * @brief Destructor.
00269      */
00270     virtual ~StepperMotor() {};
00271 };
00272 
00273 #endif /* __STEPPERMOTOR_CLASS_H */
00274 
00275 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/