Revision 1:b96435078d4d, committed 2012-12-16

Comitter:

dury

Date:

Sun Dec 16 16:39:40 2012 +0000

Parent:

0:ce88091ae9fb

Commit message:

Library for move Stepper Motor using DIR and CLK pin of a control board.;

Changed in this revision

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

diff -r ce88091ae9fb -r b96435078d4d StepperMotor.h
--- 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
\ No newline at end of file