Diff: StepperMotor.cpp

Revision:

0:ce88091ae9fb

Child:

1:b96435078d4d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor.cpp	Tue Nov 20 16:46:43 2012 +0000
@@ -0,0 +1,165 @@
+#include "StepperMotor.h"
+
+StepperMotorDrv::StepperMotorDrv(PinName PinDir, PinName PinClk):Dir(PinDir),Clock(PinClk)
+{
+    MaxSpeed=100;
+    Speed=0;
+    Step=1;
+    DutyCycle=50;
+    Direction=CW;
+    SetRawSpeedHz(0);
+    SetDutyCyclePerc(DutyCycle);
+    SetDir(CW);
+}
+
+StepperMotorDrv::~StepperMotorDrv()
+{
+}
+
+// Set duty cycle of pwm in percentual
+float StepperMotorDrv::SetDutyCyclePerc(float PercentualValue)
+{
+    if (PercentualValue > 100) PercentualValue=100;
+    DutyCycle=PercentualValue;
+    Clock.write(DutyCycle/100); 
+    return (DutyCycle);
+}
+
+// Set duty cycle of pwm as float value from 0.0 to 1.0
+// Values grater than 1.0 were used as 0.n
+float StepperMotorDrv::SetDutyCycleValue(float DecimalValue)
+{
+    if (DecimalValue > 1){
+        DecimalValue=DecimalValue - int(DecimalValue);
+    }    
+    Clock.write(DecimalValue); 
+    return(DecimalValue * 100);
+}
+
+// Set Raw Speed in Hz
+float StepperMotorDrv::SetRawSpeedHz(float SpeedHz)
+{
+    Speed=SpeedHz;
+    Clock.period(1/Speed);
+    return(Speed);
+}
+
+// Set Max Speed to Reach in Hz
+void StepperMotorDrv::SetMaxSpeedHz(float MaxSpeedHz)
+{
+    MaxSpeed=MaxSpeedHz;
+}
+
+// Set Speed in Percentoal Value (the result depends on MaxSpeed)
+// Return: Calculated Speed in Hz
+float StepperMotorDrv::SetSpeedPerc(float PercValue)
+{
+    Speed=(MaxSpeed/100)*PercValue;
+    Clock.period(1/Speed);
+    return(Speed);
+}
+
+// Set Speed in Percentoal Value (the result depends on MaxSpeed)
+// Return: new Speed in Hz
+float StepperMotorDrv::IncSpeedHz(float StepValueHz)
+{
+    Speed+=StepValueHz;
+    Clock.period(1/Speed);
+    return(Speed);
+}
+
+// Increment Speed by <IncStep> Value
+// Return: new Speed in Hz
+float StepperMotorDrv::SpeedUp(void)
+{
+    return(IncSpeedHz(Step));
+}
+
+// Set Speed in Percentoal Value (the result depends on MaxSpeed)
+// Return: new Speed in Hz
+float StepperMotorDrv::DecSpeedHz(float StepValueHz)
+{
+    Speed-=StepValueHz;
+    Clock.period(1/Speed);
+    return Speed;
+}
+
+// Decrement Speed by <Step> Value
+// Return: new Speed in Hz
+float StepperMotorDrv::SpeedDown(void)
+{
+    return(DecSpeedHz(Step));
+}
+
+// Stop the Motor
+void StepperMotorDrv::Stop(void)
+{
+    SetRawSpeedHz(0);
+}
+
+// Get the current speed in Hz
+float StepperMotorDrv::GetSpeedHz(void)
+{
+    return Speed;
+}
+
+// Get the current speed in Perc Value
+float StepperMotorDrv::GetSpeedPerc(void)
+{
+    return (Speed*100)/MaxSpeed;
+}
+
+// Get the current MAX Speed in Hz
+float StepperMotorDrv::GetMaxSpeed(void)
+{
+    return (MaxSpeed);
+}
+
+// Get the current Duty Cycle in Perc Value
+float StepperMotorDrv::GetDuryCyclePerc(void)
+{
+    return (DutyCycle);
+}
+
+// Get the current Duty Cycle decimal value
+float StepperMotorDrv::GetDuryCycleValue(void)
+{
+    return (DutyCycle/100);
+}
+
+// Get the current Step Value
+float StepperMotorDrv::GetStepHz(void)
+{
+    return (Step);
+}
+
+// Set Rotation Direction: CW=1 CC=0
+void StepperMotorDrv::SetDir(bool RotationDir)
+{
+    Dir=RotationDir;
+}
+
+// Set Rotation Direction CW
+void StepperMotorDrv::SetDirCW(void)
+{
+    Dir=CW;
+}
+
+// Set Rotation Direction CC
+void StepperMotorDrv::SetDirCC(void)
+{
+    Dir=CC;
+}
+
+// Set Rotation Direction CW
+void StepperMotorDrv::RevertDir(void)
+{
+    Dir=!Dir;
+}
+
+// Get Rotation Direction Direction
+// Return: CW=1 or CC=0
+bool StepperMotorDrv::GetDir(void)
+{
+    return(Dir);
+}