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/** Stepper Motor control library
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*
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* Copyright: 2010 Tedd OKANO, Tsukimidai Communications Syndicate - Crawl Design
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* The library that controls stepper motor via motor driver chip: TA7774
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* The TA7774 is a driver for a bipolar stepper motor.
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* With this library, mbed will generate 2 phase pulses to operate the motor.
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*/
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#ifndef MBED_STEPPERMOTOR
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#define MBED_STEPPERMOTOR
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#include "mbed.h"
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#define MAX_PPS 50 // pulse per second
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/** Stepper Motor control class
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*
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* Example:
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* @code
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* #include "mbed.h"
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* #include "StepperMotor.h"
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*
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* StepperMotor m( p21, p22, p23, p24 );
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*
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* int main() {
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* m.set_sync_mode( StepperMotor::SYNCHRONOUS );
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* m.set_power_ctrl( true );
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*
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* while( 1 ) {
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* m.go_angle( 120 );
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* wait( 0.5 );
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*
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* m.go_angle( 240 );
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* wait( 0.5 );
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*
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* m.go_angle( 0 );
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* wait( 0.5 );
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*
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* m.go_angle( 240 );
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* wait( 0.5 );
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*
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* m.go_angle( 120 );
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* wait( 0.5 );
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*
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* m.go_angle( 0 );
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* wait( 0.5 );
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* }
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* }
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* @endcode
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*/
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class StepperMotor {
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public:
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/** Constants for motor rotate mode */
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typedef enum {
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SHORTEST, /**< turn by shortest direction */
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NO_WRAPAROUND, /**< do not accross home position */
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CLOCKWISE_ONLY, /**< one-way: clockwise turn */
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COUNTER_CLOCKWISE_ONLY /**< one-way: counter clockwise turn */
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} RotMode;
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/** Constants for syncronization mode */
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typedef enum {
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ASYNCHRONOUS, /**< program does wait motor turn completion */
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SYNCHRONOUS /**< program doesn't wait motor turn completion */
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} SyncMode;
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/** Constants for position detection edge polarity */
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typedef enum {
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RISING_EDGE, /**< position detection done by rising edge */
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FALLING_EDGE /**< position detection done by falling edge */
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} PositionDetectPorarity;
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/** Create a stepper motor object connected to specified DigitalOut pins and a DigitalIn pin
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*
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* @param out_A DigitalOut pin for motor pulse signal-A
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* @param out_B DigitalOut pin for motor pulse signal-B
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* @param out_PWR DigitalOut pin for TA7774's power control (option)
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* @param position_detect DigitalIn pin for home position detection (option)
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*/
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StepperMotor(
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PinName out_A = p21,
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PinName out_B = p22,
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PinName out_PWR = p23,
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PinName position_detect = p24
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) ;
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/** Set the pulse width (i.e. motor turning speed)
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*
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* @param v pulse per second : default is 100. lower number makes the turn slower
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*/
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int set_pps( int v );
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/** Set maximum PPS (= minimum pulse width) which will be used in finding home position
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*
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* @param v maximum pulse per second : default is 100. lower number makes the turn slower
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*/
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void set_max_pps( int v );
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/** Find home position: rotate the motor until the detection edge comes.
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*
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* Turns the motor until the home position detected.
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* The "home position" is a reference point for the step and angle. It will be step=0 and angle=0.
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* The detection signal edge can be defined by an argument.
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* It follows the rotate mode.
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* When the edge is detected, the motor will be stopped and it will be the new home position.
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* If no detection signal detected, no home position update done.
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*
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* @param edge defines detection edge rise or fall
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*/
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int find_home_position( PositionDetectPorarity edge );
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/** Update home position
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*
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* Set the home position as current motor position.
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*/
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void set_home_position( void );
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/** Turn the motor to defined position (by steps from home position)
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*
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* Make motor move to absolute position
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*
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* @param v the position defined by steps from home position
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*/
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int go_position( int v );
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/** Turn the motor to defined position (by angle (0.0..360 degree) from home position)
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*
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* Make motor move to absolute position
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*
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* @param v the position defined by steps from home position
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*/
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void go_angle( float angle );
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/** Turn the motor to defined position (by steps from current position)
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*
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* Make motor move to defined position
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*
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* @param v the position defined by steps from home position
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*/
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int move_steps( int s );
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/** Interface for motor rotate mode setting
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*
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* Example:
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* @code
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* StepperMotor m( p21, p22, p23, p24 );
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* int main() {
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* m.set_rot_mode( StepperMotor::NO_WRAPAROUND );
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* ...
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* @endcode
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*
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* @param m motor rotate mode : SHORTEST, NO_WRAPAROUND, CLOCKWISE_ONLY or COUNTER_CLOCKWISE_ONLY
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*/
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void set_rot_mode( RotMode m );
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/** Interface for syncronization mode setting
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*
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* Example:
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* @code
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* StepperMotor m( p21, p22, p23, p24 );
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* int main() {
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* m.set_sync_mode( StepperMotor::NO_WRAPAROUND );
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* ...
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* @endcode
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*
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* @param m motor rotate mode : ASYNCHRONOUS or SYNCHRONOUS
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*/
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void set_sync_mode( SyncMode m );
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/** Check remaining distance that motor need to move
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173
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*
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* software can check if the motor action completed in asynchronous mode
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*
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* @return remaining steps that motor need to go
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*/
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int distance( void );
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/** Pause/Resume the motor action
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*
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* @param sw use "true" for pause, "false" for resume
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*/
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void set_pause( int sw );
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/** Auto power control enable
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187
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*
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* If the auto power control is enabled, the motor power will be turned-off when it stays same place
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*
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* @param sw use "true" for pause, "false" for resume
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*/
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void set_power_ctrl( int sw );
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/** Setting for steps/rotate
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*
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* This parameter is required if program want to use the "go_angle()" interface.
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197
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* The angle will be calculated from this parameter.
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198
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*
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199
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* @param steps per rotate
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200
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*/
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void set_steps_per_rotate( int steps );
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202
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203
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private:
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204
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205
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Ticker t;
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206
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BusOut motor_out;
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207
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DigitalOut pwr_out;
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208
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DigitalIn position_detect_pin;
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|
209
|
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|
210
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static const unsigned char pat[ 4 ]; // 2 phase pulse pattern for motor control
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|
211
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RotMode rot_mode;
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|
212
|
SyncMode sync_mode;
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213
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int max_pos;
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214
|
int current_pos;
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|
215
|
int pos_offset;
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216
|
int target_pos;
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|
217
|
int pps;
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218
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int max_pps;
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219
|
int init_done;
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220
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int pause;
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221
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int power_ctrl;
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|
222
|
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223
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void set_target_pos( int p ); // target position setting interface
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224
|
void motor_maintain( void ); // this function is called periodically by Ticker
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225
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};
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|
226
|
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227
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228
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#endif |
Farbod Jam