Fabio Durigon
Library for handle a Stepper Motor Driver Borad
Diff: StepperMotor.h
- Revision:
- 1:b96435078d4d
- Parent:
- 0:ce88091ae9fb
--- a/StepperMotor.h Tue Nov 20 16:46:43 2012 +0000
+++ b/StepperMotor.h Sun Dec 16 16:39:40 2012 +0000
@@ -1,85 +1,259 @@
-/* mbed Stepper Library
- * Copyright (c) 2012 Fabio Durigon
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#ifndef STEPPERMOTOR_H
-#define STEPPERMOTOR_H
-
-#include "mbed.h"
-
-//!Library for handle Stepper Motor with a Power Module with Clock and Dir input
-
-// Rotation direction
-#define CW 1
-#define CC 0
-
-class StepperMotorDrv
-{
- public:
- /** Create a StepperMotorDrv Object
- *
- * @param PinDir Digital Output Pin to set Direction of motor
- * @param PinClk Pwm Output Pin for Clock signal
- */
- StepperMotorDrv(PinName PinDir, PinName PinClk);
-
- /** Destroys an instance of SRD02
- */
- ~StepperMotorDrv();
-
- /** Set duty cicle of clock pulse
- *
- * @param PercentualValue: Value 0-100%
- */
- float SetDutyCyclePerc(float PercentualValue);
- float SetDutyCycleValue(float DecimalValue);
- float SetRawSpeedHz(float SpeedHz);
- void SetMaxSpeedHz(float MaxSpeedHz);
- float SetSpeedPerc(float PercValue);
- float IncSpeedHz(float StepValueHz);
- float SpeedUp(void);
- float DecSpeedHz(float StepValueHz);
- float SpeedDown(void);
- void Stop(void);
- float GetSpeedHz(void);
- float GetSpeedPerc(void);
- float GetMaxSpeed(void);
- float GetDuryCyclePerc(void);
- float GetDuryCycleValue(void);
- float GetStepHz(void);
- void SetDir(bool RotationDir);
- void SetDirCW(void);
- void SetDirCC(void);
- void RevertDir(void);
- bool GetDir(void);
-
- private:
- DigitalOut Dir;
- PwmOut Clock;
-
- float MaxSpeed;
- float Speed;
- float Step;
- float DutyCycle;
- bool Direction;
-
-};
+/* mbed Stepper Motor Library
+ * Copyright (c) 2012 Fabio Durigon
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef STEPPERMOTOR_H
+#define STEPPERMOTOR_H
+
+#include "mbed.h"
+
+//!Library for handle Stepper Motor with a Power Module with Clock and Dir input
+
+// Rotation direction
+#define CW 1
+#define CC 0
+
+/** Library to control a Stepper Motor Driver Board with Clock and Dir input*/
+class StepperMotorDrv
+{
+ public:
+ /** Create a StepperMotorDrv Object
+ *
+ * @param PinDir Digital Output Pin to set Direction of motor
+ * @param PinClk Pwm Output Pin for Clock signal
+ */
+ StepperMotorDrv(PinName PinDir, PinName PinClk);
+
+ /** Destroys an instance of StepperMotorDrv Object*/
+ ~StepperMotorDrv();
+
+ /** Set duty cycle of clock pulse in Percentual
+ *
+ * @param PercentualValue Value 0-100%
+ */
+ void SetDutyCyclePerc(float PercentualValue);
+
+ /** Set duty cycle of clock pulse in decimal value
+ *
+ * @param DecimalValue 0.0 to 1.0 (0.5 = 50%)
+ */
+ void SetDutyCycle(float DecimalValue);
+
+ /** Set Motor Speed: frequency of clock pulse to apply on PinClk
+ *
+ * @param SpeedHz Frequency value in Hz
+ */
+ void SetSpeed(float SpeedHz);
+
+ /** Set MaxSpeed parameter used only by "Perc functions"
+ * to calculate raw frequency to apply.
+ *
+ * @param MaxSpeedHz Frequency in Hz
+ *
+ *
+ * Example:
+ * @code
+ * SetMaxSpeed(1000); // Max Speed is 1000 Hz
+ * SetSpeedPerc(50); // Set Speed to 50% that means 500 Hz
+ * @endcode
+ *
+ *
+ */
+ void SetMaxSpeed(float MaxSpeedHz);
+
+ /** Set Speed in Perc of MaxSpeed
+ * @param PercValue 0 to 100 (in %)
+ *
+ *
+ * Example:
+ * @code
+ * SetMaxSpeed(1000); // Max Speed is 1000 Hz
+ * SetSpeedPerc(100); // Set Speed to 100% that means 1000 Hz
+ * @endcode
+ *
+ *
+ */
+ void SetSpeedPerc(float PercValue);
+
+ /** Increment Speed by Hz value
+ * @param StepValueHz: amount of Hz to add to velocity
+ *
+ * @return new Speed in Hz
+ */
+ float SpeedUp(float ValueHz);
+
+ /** Decrement Speed by Hz value
+ * @param StepValueHz: amount of Hz to substract to velocity
+ *
+ * @return new Speed in Hz
+ */
+ float SpeedDown(float ValueHz);
+
+ /** Set Step value to apply in SpeedUp() SpeedDown() like functions
+ * @param StepValueHz: value in Hz
+ *
+ *
+ * Example:
+ * @code
+ * SetStep(10); // Set Step to 10 Hz
+ * ...
+ * SpeedUp(); // Increase Speed by 10 Hz
+ * ...
+ * @endcode
+ *
+ *
+ */
+ void SetSpeedJump(float ValueHz);
+
+ /** Increase velocity by a Step set with SetStep() function
+ *
+ * @return new Speed in Hz
+ *
+ */
+ float SpeedUp(void);
+
+ /** Decrease velocity by a Step set with SetStep() function
+ *
+ * @return new Speed in Hz
+ *
+ */
+ float SpeedDown(void);
+
+ /** Get Current Speed in Hz*/
+ float GetSpeed(void);
+
+ /** Get Current Speed in Percentual*/
+ float GetSpeedPerc(void);
+
+ /** Get MaxSpeed parameter set (in Hz)*/
+ float GetMaxSpeed(void);
+
+ /** Get duty cycle value in Percentual*/
+ float GetDutyCyclePerc(void);
+
+ /** Get duty cycle in decimal value (Ex: 0.5 means 50%)*/
+ float GetDutyCycle(void);
+
+ /** Get step value for SpedUp/Down (in Hz)*/
+ float GetSpeedJump(void);
+
+ /** Set Rotation Direction
+ * @param RotationDir 1 or CW for ClockWise rotation, 0 or CC for Counterclockwise rotation
+ *
+ * N.B. CW and CC depends from MotorBoard Specs
+ *
+ */
+ void SetDir(bool RotationDir);
+
+ /** Set Rotation Direction to CW*/
+ void SetDirCW(void);
+
+ /** Set Rotation Direction to CC*/
+ void SetDirCC(void);
+
+ /** Revert Direction*/
+ void RevertDir(void);
+
+ /** Get current Direction
+ *
+ * @return 1 for CW, o for CC
+ */
+ bool GetDir(void);
+
+ /** Run Motor*/
+ void Run(void);
+
+ /** Stop Motor*/
+ void Stop(void);
+
+ /** Run <nrSteps> step in <RotationDir> direction*/
+ void RunStep(int nrSteps, bool RotationDir);
+
+ /** Run <nrSteps> step in current direction*/
+ void RunStep(int nrSteps);
+
+ /** Run one step in current direction*/
+ void RunStep(void);
+
+ /** Run one step in clockwise direction*/
+ void RunStepCW(void);
+
+ /** Run one step in counterclockwise direction*/
+ void RunStepCC(void);
+
+ /** Reset current position to 0
+ * currPos=0
+ * currDegree=0
+ */
+ void SetZero(void);
+
+ /** Set internal <currPos> to Pos
+ * be carefull if you use degrees funcions
+ * this don't affect the degrees variables
+ */
+ void SetCurrPos(int Pos);
+
+ /* Get current position in steps positive or negative relative to zero*/
+ int GetCurrPos(void);
+
+ /** Get current Period of duty cycle in seconds*/
+ float GetPeriod(void);
+
+ /** Set degrees of rotation by one step of motor
+ * Set it if You want to use Degrees functions
+ *
+ *
+ * Example:
+ * @code
+ * SetDegreePerStep(1.6); // 1.6 degrees for each motor step
+ * SetZero();
+ * RunStep(10); // move 1.6 * 10 = 16 degrees
+ * printf("%f",GetCurrentDegree()); // prints "16"
+ * ...
+ * @endcode
+ *
+ *
+ */
+ void SetDegreePerStep(float Degrees);
+
+ /** Get current "Degrees per one step" value*/
+ float GetDegreePerStep(void);
+
+ /** Get current position in Degrees*/
+ float GetCurrDegree(void);
+
+
+ private:
+ DigitalOut Dir;
+ PwmOut Clock;
+ float MaxSpeed;
+ float Speed;
+ float SpeedJump;
+ float DutyCycle;
+ int CurrPos;
+ float tPeriod;
+ float tUp;
+ float tDown;
+ float DegreesPerStep;
+ float CurrDegree;
+
+};
#endif
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