Diff: StepperMotor.h
- Revision:
- 0:6a968d1c95c7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor.h Sat Aug 27 09:56:46 2011 +0000
@@ -0,0 +1,228 @@
+/** Stepper Motor control library
+ *
+ * Copyright: 2010 Tedd OKANO, Tsukimidai Communications Syndicate - Crawl Design
+ * The library that controls stepper motor via motor driver chip: TA7774
+ * The TA7774 is a driver for a bipolar stepper motor.
+ * With this library, mbed will generate 2 phase pulses to operate the motor.
+ */
+
+#ifndef MBED_STEPPERMOTOR
+#define MBED_STEPPERMOTOR
+
+#include "mbed.h"
+
+#define MAX_PPS 50 // pulse per second
+
+/** Stepper Motor control class
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "StepperMotor.h"
+ *
+ * StepperMotor m( p21, p22, p23, p24 );
+ *
+ * int main() {
+ * m.set_sync_mode( StepperMotor::SYNCHRONOUS );
+ * m.set_power_ctrl( true );
+ *
+ * while( 1 ) {
+ * m.go_angle( 120 );
+ * wait( 0.5 );
+ *
+ * m.go_angle( 240 );
+ * wait( 0.5 );
+ *
+ * m.go_angle( 0 );
+ * wait( 0.5 );
+ *
+ * m.go_angle( 240 );
+ * wait( 0.5 );
+ *
+ * m.go_angle( 120 );
+ * wait( 0.5 );
+ *
+ * m.go_angle( 0 );
+ * wait( 0.5 );
+ * }
+ * }
+ * @endcode
+ */
+
+class StepperMotor {
+public:
+
+ /** Constants for motor rotate mode */
+ typedef enum {
+ SHORTEST, /**< turn by shortest direction */
+ NO_WRAPAROUND, /**< do not accross home position */
+ CLOCKWISE_ONLY, /**< one-way: clockwise turn */
+ COUNTER_CLOCKWISE_ONLY /**< one-way: counter clockwise turn */
+ } RotMode;
+
+ /** Constants for syncronization mode */
+ typedef enum {
+ ASYNCHRONOUS, /**< program does wait motor turn completion */
+ SYNCHRONOUS /**< program doesn't wait motor turn completion */
+ } SyncMode;
+
+ /** Constants for position detection edge polarity */
+ typedef enum {
+ RISING_EDGE, /**< position detection done by rising edge */
+ FALLING_EDGE /**< position detection done by falling edge */
+ } PositionDetectPorarity;
+
+ /** Create a stepper motor object connected to specified DigitalOut pins and a DigitalIn pin
+ *
+ * @param out_A DigitalOut pin for motor pulse signal-A
+ * @param out_B DigitalOut pin for motor pulse signal-B
+ * @param out_PWR DigitalOut pin for TA7774's power control (option)
+ * @param position_detect DigitalIn pin for home position detection (option)
+ */
+ StepperMotor(
+ PinName out_A = p21,
+ PinName out_B = p22,
+ PinName out_PWR = p23,
+ PinName position_detect = p24
+ ) ;
+
+ /** Set the pulse width (i.e. motor turning speed)
+ *
+ * @param v pulse per second : default is 100. lower number makes the turn slower
+ */
+ int set_pps( int v );
+
+ /** Set maximum PPS (= minimum pulse width) which will be used in finding home position
+ *
+ * @param v maximum pulse per second : default is 100. lower number makes the turn slower
+ */
+ void set_max_pps( int v );
+
+ /** Find home position: rotate the motor until the detection edge comes.
+ *
+ * Turns the motor until the home position detected.
+ * The "home position" is a reference point for the step and angle. It will be step=0 and angle=0.
+ * The detection signal edge can be defined by an argument.
+ * It follows the rotate mode.
+ * When the edge is detected, the motor will be stopped and it will be the new home position.
+ * If no detection signal detected, no home position update done.
+ *
+ * @param edge defines detection edge rise or fall
+ */
+ int find_home_position( PositionDetectPorarity edge );
+
+ /** Update home position
+ *
+ * Set the home position as current motor position.
+ */
+ void set_home_position( void );
+
+ /** Turn the motor to defined position (by steps from home position)
+ *
+ * Make motor move to absolute position
+ *
+ * @param v the position defined by steps from home position
+ */
+ int go_position( int v );
+
+ /** Turn the motor to defined position (by angle (0.0..360 degree) from home position)
+ *
+ * Make motor move to absolute position
+ *
+ * @param v the position defined by steps from home position
+ */
+ void go_angle( float angle );
+
+ /** Turn the motor to defined position (by steps from current position)
+ *
+ * Make motor move to defined position
+ *
+ * @param v the position defined by steps from home position
+ */
+ int move_steps( int s );
+
+ /** Interface for motor rotate mode setting
+ *
+ * Example:
+ * @code
+ * StepperMotor m( p21, p22, p23, p24 );
+ * int main() {
+ * m.set_rot_mode( StepperMotor::NO_WRAPAROUND );
+ * ...
+ * @endcode
+ *
+ * @param m motor rotate mode : SHORTEST, NO_WRAPAROUND, CLOCKWISE_ONLY or COUNTER_CLOCKWISE_ONLY
+ */
+ void set_rot_mode( RotMode m );
+
+ /** Interface for syncronization mode setting
+ *
+ * Example:
+ * @code
+ * StepperMotor m( p21, p22, p23, p24 );
+ * int main() {
+ * m.set_sync_mode( StepperMotor::NO_WRAPAROUND );
+ * ...
+ * @endcode
+ *
+ * @param m motor rotate mode : ASYNCHRONOUS or SYNCHRONOUS
+ */
+ void set_sync_mode( SyncMode m );
+
+ /** Check remaining distance that motor need to move
+ *
+ * software can check if the motor action completed in asynchronous mode
+ *
+ * @return remaining steps that motor need to go
+ */
+ int distance( void );
+
+ /** Pause/Resume the motor action
+ *
+ * @param sw use "true" for pause, "false" for resume
+ */
+ void set_pause( int sw );
+
+ /** Auto power control enable
+ *
+ * If the auto power control is enabled, the motor power will be turned-off when it stays same place
+ *
+ * @param sw use "true" for pause, "false" for resume
+ */
+ void set_power_ctrl( int sw );
+
+ /** Setting for steps/rotate
+ *
+ * This parameter is required if program want to use the "go_angle()" interface.
+ * The angle will be calculated from this parameter.
+ *
+ * @param steps per rotate
+ */
+ void set_steps_per_rotate( int steps );
+
+private:
+
+ Ticker t;
+ BusOut motor_out;
+ DigitalOut pwr_out;
+ DigitalIn position_detect_pin;
+
+ static const unsigned char pat[ 4 ]; // 2 phase pulse pattern for motor control
+ RotMode rot_mode;
+ SyncMode sync_mode;
+ int max_pos;
+ int current_pos;
+ int pos_offset;
+ int target_pos;
+ int pps;
+ int max_pps;
+ int init_done;
+ int pause;
+ int power_ctrl;
+
+ void set_target_pos( int p ); // target position setting interface
+ void motor_maintain( void ); // this function is called periodically by Ticker
+};
+
+
+#endif
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Farbod Jam