Diff: StepperMotor.cpp

Revision:

1:b96435078d4d

Parent:

0:ce88091ae9fb

diff -r ce88091ae9fb -r b96435078d4d StepperMotor.cpp
--- a/StepperMotor.cpp	Tue Nov 20 16:46:43 2012 +0000
+++ b/StepperMotor.cpp	Sun Dec 16 16:39:40 2012 +0000
@@ -1,165 +1,259 @@
-#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);
-}
+#include "StepperMotor.h"
+
+/* TODO:
+_RunDegrees(float degrees)
+_SetDegreeJump(float degree)
+_DegreeUp()
+_DegreeDown()
+*/
+Serial debug(USBTX,USBRX);
+
+StepperMotorDrv::StepperMotorDrv(PinName PinDir, PinName PinClk):Dir(PinDir),Clock(PinClk)
+{
+    MaxSpeed=100;       // default 100 Hz
+    Speed=50;           // default 50 Hz
+    SpeedJump=1;        // default 1 Hz
+    DutyCycle=50;       // default 50 %
+    SetDir(CW);         // default ClockWise
+    Clock=0;            // Set to 0 for sure
+    CurrPos=0;          // Set 0 when power on
+    CurrDegree=0;       // default 0 degrees
+    DegreesPerStep=0;   // 0 -> NOT SET
+}
+
+StepperMotorDrv::~StepperMotorDrv()
+{
+}
+
+// Set duty cycle of pwm in percentual
+void StepperMotorDrv::SetDutyCyclePerc(float PercentualValue)
+{
+    if (PercentualValue > 100) PercentualValue=100;
+    DutyCycle=PercentualValue;
+    tUp=(tPeriod/100)*DutyCycle;
+    tDown=tPeriod-tUp;
+}
+
+// Set duty cycle of pwm as float value from 0.0 to 1.0
+// Values grater than 1.0 were used as 0.n
+void StepperMotorDrv::SetDutyCycle(float DecimalValue)
+{
+    if (DecimalValue > 1){
+        DecimalValue=DecimalValue - int(DecimalValue);
+    }    
+    DutyCycle=DecimalValue*100;
+    tUp=tPeriod*DecimalValue;
+    tDown=tPeriod-tUp;
+}
+
+// Set Raw Speed in Hz
+void StepperMotorDrv::SetSpeed(float SpeedHz)
+{
+    Speed=SpeedHz;
+    tPeriod=1/Speed;
+    // Recalculate also DutyCycle t for new period
+    tUp=tPeriod*(DutyCycle/100);
+    tDown=tPeriod-tUp;
+}
+
+void StepperMotorDrv::SetMaxSpeed(float MaxSpeedHz)
+{
+    MaxSpeed=MaxSpeedHz;
+}
+
+void StepperMotorDrv::SetSpeedPerc(float PercValue)
+{
+    Speed=(MaxSpeed/100)*PercValue;
+    tPeriod=1/Speed;
+    // Recalculate also DutyCycle t for new period
+    tUp=tPeriod*(DutyCycle/100);
+    tDown=tPeriod-tUp;
+}
+
+float StepperMotorDrv::SpeedUp(float ValueHz)
+{
+    Speed+=ValueHz;
+    // Recalculate also DutyCycle t for new period
+    tUp=tPeriod*(DutyCycle/100);
+    tDown=tPeriod-tUp;
+    
+    return(Speed);
+}
+
+float StepperMotorDrv::SpeedDown(float ValueHz)
+{
+    Speed-=ValueHz;
+    // Recalculate also DutyCycle t for new period
+    tUp=tPeriod*(DutyCycle/100);
+    tDown=tPeriod-tUp;
+    
+    return Speed;
+}
+
+void StepperMotorDrv::SetSpeedJump(float ValueHz)
+{
+    SpeedJump=ValueHz;
+}
+
+float StepperMotorDrv::SpeedUp(void)
+{
+    return(SpeedUp(SpeedJump));
+}
+
+// Decrement Speed by <Step> Value
+// Return: new Speed in Hz
+float StepperMotorDrv::SpeedDown(void)
+{
+    return(SpeedDown(SpeedJump));
+}
+
+// Get the current speed in Hz
+float StepperMotorDrv::GetSpeed(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::GetDutyCyclePerc(void)
+{
+    return (DutyCycle);
+}
+
+// Get the current Duty Cycle decimal value
+float StepperMotorDrv::GetDutyCycle(void)
+{
+    return (DutyCycle/100);
+}
+
+// Get the current Step Value
+float StepperMotorDrv::GetSpeedJump(void)
+{
+    return (SpeedJump);
+}
+
+// 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);
+}
+
+void StepperMotorDrv::Run(void)
+{
+    Clock.period(tPeriod);
+    Clock.write(DutyCycle/100);   
+}
+
+// Stop the Motor
+void StepperMotorDrv::Stop(void)
+{
+    Clock=0;
+}
+
+void StepperMotorDrv::RunStep(int nrSteps, bool RotationDir)
+{
+    Dir=RotationDir;
+    int StepAdd=(0-1)+(RotationDir*2);
+    float DegreeAdd=DegreesPerStep*(float(StepAdd));
+    
+    for (int step=0; step<nrSteps; step++){
+        Clock=1;
+        wait(tUp);
+        Clock=0;
+        wait(tDown);
+        CurrPos=CurrPos+StepAdd;       // Update Current Step Position
+        CurrDegree=CurrDegree+DegreeAdd;  // Update Current Degree Position
+        //debug.printf("Current Pos: %d Degree: %f\r\n",CurrPos,CurrDegree);
+    }    
+}
+
+void StepperMotorDrv::RunStep(int nrSteps)
+{
+    RunStep(nrSteps,Dir);
+}
+
+void StepperMotorDrv::RunStep(void)
+{
+    RunStep(1,Dir);
+}
+
+void StepperMotorDrv::RunStepCW(void)
+{
+    RunStep(1,CW);
+}
+
+void StepperMotorDrv::RunStepCC(void)
+{
+    RunStep(1,CC);
+}
+
+void StepperMotorDrv::SetZero(void)
+{
+    CurrPos=0;
+    CurrDegree=0;
+}
+
+void StepperMotorDrv::SetCurrPos(int Pos)
+{
+    CurrPos=Pos;
+}
+
+int StepperMotorDrv::GetCurrPos(void)
+{
+    return(CurrPos);
+}
+
+float StepperMotorDrv::GetPeriod(void)
+{
+    return(tPeriod);
+}
+
+void StepperMotorDrv::SetDegreePerStep(float Degrees){
+    DegreesPerStep=Degrees;
+}
+
+float StepperMotorDrv::GetDegreePerStep(void){
+    return(DegreesPerStep);
+}
+
+float StepperMotorDrv::GetCurrDegree(void){
+    return(CurrDegree);
+}
+   
+    
\ No newline at end of file