Casey Lively / Stepper_Motor_X27168

Adds pointer acceleration to combat missed steps and losing track of position

Dependents:   Auto

Fork of Stepper_Motor_X27168 by Stepper Motor

StepperMotor_X27168.h@0:c346170974bc, 2015-10-20 (annotated)

Committer:
agarg45
Date:
Tue Oct 20 00:36:06 2015 +0000
Revision:
0:c346170974bc
Child:
1:e7c0920184e4
Stepper Motor X27168 ver 1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
agarg45 0:c346170974bc 1 /** Stepper Motor control library
agarg45 0:c346170974bc 2 *
agarg45 0:c346170974bc 3 * @class StepperMotor_X27168
agarg45 0:c346170974bc 4 * @author Aditya Garg, Nisarg Himani
agarg45 0:c346170974bc 5 * @version 1.0 (Oct-19-2015)
agarg45 0:c346170974bc 6 *
agarg45 0:c346170974bc 7 * This is the driver for Automotive Gauge Stepper Motor X27168
agarg45 0:c346170974bc 8 *
agarg45 0:c346170974bc 9 * ----------------------IMPORTANT--------------------
agarg45 0:c346170974bc 10 * The API assumes motor is postioned at zero as there
agarg45 0:c346170974bc 11 * is no way to detect or control that in software
agarg45 0:c346170974bc 12 * ---------------------------------------------------
agarg45 0:c346170974bc 13 */
agarg45 0:c346170974bc 14
agarg45 0:c346170974bc 15 #ifndef MBED_STEPPER_MOTOR_X27168
agarg45 0:c346170974bc 16 #define MBED_STEPPER_MOTOR_X27168
agarg45 0:c346170974bc 17
agarg45 0:c346170974bc 18 #include "mbed.h"
agarg45 0:c346170974bc 19
agarg45 0:c346170974bc 20 #define MAX_POS 629 // Maximum Steps Possible (not degrees)
agarg45 0:c346170974bc 21 #define DEFAULT_SPEED 500 // Default Speed in Steps per second
agarg45 0:c346170974bc 22
agarg45 0:c346170974bc 23 /** Stepper Motor control class
agarg45 0:c346170974bc 24 *
agarg45 0:c346170974bc 25 * Example:
agarg45 0:c346170974bc 26 * @code
agarg45 0:c346170974bc 27 * #include "mbed.h"
agarg45 0:c346170974bc 28 * #include "StepperMotor_X27168.h"
agarg45 0:c346170974bc 29 *
agarg45 0:c346170974bc 30 * StepperMotor_X27168 smotor(p25, p26, p23, p22);
agarg45 0:c346170974bc 31 *
agarg45 0:c346170974bc 32 * int main() {
agarg45 0:c346170974bc 33 *
agarg45 0:c346170974bc 34 * smotor.step_position(180);
agarg45 0:c346170974bc 35 * wait(0.5);
agarg45 0:c346170974bc 36 *
agarg45 0:c346170974bc 37 * smotor.step_position(100);
agarg45 0:c346170974bc 38 * wait(0.5);
agarg45 0:c346170974bc 39 *
agarg45 0:c346170974bc 40 * smotor.angle_position(270);
agarg45 0:c346170974bc 41 * wait(0.5);
agarg45 0:c346170974bc 42 *
agarg45 0:c346170974bc 43 * smotor.step_position(0);
agarg45 0:c346170974bc 44 * wait(0.5);
agarg45 0:c346170974bc 45 * }
agarg45 0:c346170974bc 46 * @endcode
agarg45 0:c346170974bc 47 */
agarg45 0:c346170974bc 48
agarg45 0:c346170974bc 49 class StepperMotor_X27168 {
agarg45 0:c346170974bc 50
agarg45 0:c346170974bc 51 public:
agarg45 0:c346170974bc 52
agarg45 0:c346170974bc 53 /** Constants for motor rotate control */
agarg45 0:c346170974bc 54 typedef enum {
agarg45 0:c346170974bc 55 COIL_A_FOR = 0, // Forward Polarity in H-Bright Port A
agarg45 0:c346170974bc 56 COIL_B_FOR = 1, // Forward Polarity in H-Bright Port B
agarg45 0:c346170974bc 57 COIL_A_REV = 2, // Reverse Polarity in H-Bright Port A
agarg45 0:c346170974bc 58 COIL_B_REV = 3, // Reverse Polarity in H-Bright Port B
agarg45 0:c346170974bc 59 STOP_MOTOR = 4, // Turn Off Both Coils
agarg45 0:c346170974bc 60 } Polarity;
agarg45 0:c346170974bc 61
agarg45 0:c346170974bc 62 /** Create a stepper motor object connected to specified DigitalOut pins
agarg45 0:c346170974bc 63 *
agarg45 0:c346170974bc 64 * @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1)
agarg45 0:c346170974bc 65 * @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2)
agarg45 0:c346170974bc 66 * @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1)
agarg45 0:c346170974bc 67 * @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2)
agarg45 0:c346170974bc 68 */
agarg45 0:c346170974bc 69 StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r);
agarg45 0:c346170974bc 70
agarg45 0:c346170974bc 71 /** Create a stepper motor object connected to specified DigitalOut pins
agarg45 0:c346170974bc 72 * starting at specified position
agarg45 0:c346170974bc 73 *
agarg45 0:c346170974bc 74 * @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1)
agarg45 0:c346170974bc 75 * @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2)
agarg45 0:c346170974bc 76 * @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1)
agarg45 0:c346170974bc 77 * @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2)
agarg45 0:c346170974bc 78 * @param init_step_position Rotate of given initial step position
agarg45 0:c346170974bc 79 */
agarg45 0:c346170974bc 80 StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int init_step_position);
agarg45 0:c346170974bc 81
agarg45 0:c346170974bc 82 /** Set the motor speed (i.e. number of steps per second)
agarg45 0:c346170974bc 83 * Motor will malfuntion is speed is faster than the
agarg45 0:c346170974bc 84 * the maximum capability if the motor.
agarg45 0:c346170974bc 85 *
agarg45 0:c346170974bc 86 * @param s steps per second : lower number makes the turn slower (default = 1000)
agarg45 0:c346170974bc 87 */
agarg45 0:c346170974bc 88 void set_speed(float s);
agarg45 0:c346170974bc 89
agarg45 0:c346170974bc 90 /** Get the motor speed (i.e. number of steps per second)
agarg45 0:c346170974bc 91 *
agarg45 0:c346170974bc 92 * @return steps per second
agarg45 0:c346170974bc 93 */
agarg45 0:c346170974bc 94 int get_speed();
agarg45 0:c346170974bc 95
agarg45 0:c346170974bc 96 /** Set the maximum steps the motor should take (not degrees)
agarg45 0:c346170974bc 97 *
agarg45 0:c346170974bc 98 * @param p maximum_steps :(ignored if parameter is greater than 629, the physical limit of the motor)
agarg45 0:c346170974bc 99 */
agarg45 0:c346170974bc 100 void set_max_position(int p);
agarg45 0:c346170974bc 101
agarg45 0:c346170974bc 102 /** Get the motor maximum position (int steps not degress)
agarg45 0:c346170974bc 103 *
agarg45 0:c346170974bc 104 * @return maximum position
agarg45 0:c346170974bc 105 */
agarg45 0:c346170974bc 106 int get_max_position();
agarg45 0:c346170974bc 107
agarg45 0:c346170974bc 108 /** Turn the motor one step (1/2 Degree)
agarg45 0:c346170974bc 109 *
agarg45 0:c346170974bc 110 * @param dir 0 CLOCKWISE/FORWARD
agarg45 0:c346170974bc 111 * 1 ANTI-CLOCKWISE/REVERSE
agarg45 0:c346170974bc 112 * 2 STOP
agarg45 0:c346170974bc 113 *
agarg45 0:c346170974bc 114 * @return current_position of the motor
agarg45 0:c346170974bc 115 */
agarg45 0:c346170974bc 116 int step(int dir);
agarg45 0:c346170974bc 117
agarg45 0:c346170974bc 118 /** Turn the motor to a specific step
agarg45 0:c346170974bc 119 *
agarg45 0:c346170974bc 120 * @param pos desired position in steps (0-max_position)
agarg45 0:c346170974bc 121 */
agarg45 0:c346170974bc 122 void step_position(int pos);
agarg45 0:c346170974bc 123
agarg45 0:c346170974bc 124 /** Turn the motor to a specific degree angle with a resolution of 0.5 degrees
agarg45 0:c346170974bc 125 *
agarg45 0:c346170974bc 126 * @param angle desired angle (0-(max_positon/2))
agarg45 0:c346170974bc 127 */
agarg45 0:c346170974bc 128 void angle_position(float angle);
agarg45 0:c346170974bc 129
agarg45 0:c346170974bc 130 private:
agarg45 0:c346170974bc 131 BusOut motor_control; // 4-bit Bus Controlling the H-Brigde
agarg45 0:c346170974bc 132 int max_position; // Software Limit to motor rotation
agarg45 0:c346170974bc 133 int speed; // Speed of Rotation
agarg45 0:c346170974bc 134 int cur_position; // Current Position of Motor (0-max_position)
agarg45 0:c346170974bc 135 Polarity cur_state; // Current State of H-Brige Controls
agarg45 0:c346170974bc 136 };
agarg45 0:c346170974bc 137 #endif