stepper motor controller
Fork of Stepper_Motor_X27168 by
StepperMotor_X27168.h
- Committer:
- agarg45
- Date:
- 2015-10-20
- Revision:
- 0:c346170974bc
- Child:
- 1:64889c1fd698
File content as of revision 0:c346170974bc:
/** Stepper Motor control library * * @class StepperMotor_X27168 * @author Aditya Garg, Nisarg Himani * @version 1.0 (Oct-19-2015) * * This is the driver for Automotive Gauge Stepper Motor X27168 * * ----------------------IMPORTANT-------------------- * The API assumes motor is postioned at zero as there * is no way to detect or control that in software * --------------------------------------------------- */ #ifndef MBED_STEPPER_MOTOR_X27168 #define MBED_STEPPER_MOTOR_X27168 #include "mbed.h" #define MAX_POS 629 // Maximum Steps Possible (not degrees) #define DEFAULT_SPEED 500 // Default Speed in Steps per second /** Stepper Motor control class * * Example: * @code * #include "mbed.h" * #include "StepperMotor_X27168.h" * * StepperMotor_X27168 smotor(p25, p26, p23, p22); * * int main() { * * smotor.step_position(180); * wait(0.5); * * smotor.step_position(100); * wait(0.5); * * smotor.angle_position(270); * wait(0.5); * * smotor.step_position(0); * wait(0.5); * } * @endcode */ class StepperMotor_X27168 { public: /** Constants for motor rotate control */ typedef enum { COIL_A_FOR = 0, // Forward Polarity in H-Bright Port A COIL_B_FOR = 1, // Forward Polarity in H-Bright Port B COIL_A_REV = 2, // Reverse Polarity in H-Bright Port A COIL_B_REV = 3, // Reverse Polarity in H-Bright Port B STOP_MOTOR = 4, // Turn Off Both Coils } Polarity; /** Create a stepper motor object connected to specified DigitalOut pins * * @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1) * @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2) * @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1) * @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2) */ StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r); /** Create a stepper motor object connected to specified DigitalOut pins * starting at specified position * * @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1) * @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2) * @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1) * @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2) * @param init_step_position Rotate of given initial step position */ StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int init_step_position); /** Set the motor speed (i.e. number of steps per second) * Motor will malfuntion is speed is faster than the * the maximum capability if the motor. * * @param s steps per second : lower number makes the turn slower (default = 1000) */ void set_speed(float s); /** Get the motor speed (i.e. number of steps per second) * * @return steps per second */ int get_speed(); /** Set the maximum steps the motor should take (not degrees) * * @param p maximum_steps :(ignored if parameter is greater than 629, the physical limit of the motor) */ void set_max_position(int p); /** Get the motor maximum position (int steps not degress) * * @return maximum position */ int get_max_position(); /** Turn the motor one step (1/2 Degree) * * @param dir 0 CLOCKWISE/FORWARD * 1 ANTI-CLOCKWISE/REVERSE * 2 STOP * * @return current_position of the motor */ int step(int dir); /** Turn the motor to a specific step * * @param pos desired position in steps (0-max_position) */ void step_position(int pos); /** Turn the motor to a specific degree angle with a resolution of 0.5 degrees * * @param angle desired angle (0-(max_positon/2)) */ void angle_position(float angle); private: BusOut motor_control; // 4-bit Bus Controlling the H-Brigde int max_position; // Software Limit to motor rotation int speed; // Speed of Rotation int cur_position; // Current Position of Motor (0-max_position) Polarity cur_state; // Current State of H-Brige Controls }; #endif