Revision 0:8a14924886c4, committed 2019-03-05

Comitter:

fbcosentino

Date:

Tue Mar 05 13:18:24 2019 +0000

Commit message:

Initial commit

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ULN2003.cpp	Tue Mar 05 13:18:24 2019 +0000
@@ -0,0 +1,117 @@
+#include "ULN2003.h"
+
+ULN2003::ULN2003(PinName pinOut1, PinName pinOut2, PinName pinOut3, PinName pinOut4, int full_turn_steps): 
+        _out1(pinOut1), _out2(pinOut2), _out3(pinOut3), _out4(pinOut4) {
+    _pos = 0;
+    _full_turn_steps = full_turn_steps;
+    relax();
+}
+
+void ULN2003::_set_output() {
+    switch (_pos) {
+        case 0: {
+            _out1=1;
+            _out2=0;
+            _out3=0;
+            _out4=0;
+            break;
+        }
+        case 1: {
+            _out1=1;
+            _out2=1;
+            _out3=0;
+            _out4=0;
+            break;
+        }
+        case 2: {
+            _out1=0;
+            _out2=1;
+            _out3=0;
+            _out4=0;
+            break;
+        }
+        case 3: {
+            _out1=0;
+            _out2=1;
+            _out3=1;
+            _out4=0;
+            break;
+        }
+        case 4: {
+            _out1=0;
+            _out2=0;
+            _out3=1;
+            _out4=0;
+            break;
+        }
+        case 5: {
+            _out1=0;
+            _out2=0;
+            _out3=1;
+            _out4=1;
+            break;
+        }
+        case 6: {
+            _out1=0;
+            _out2=0;
+            _out3=0;
+            _out4=1;
+            break;
+        }
+        case 7: {
+            _out1=1;
+            _out2=0;
+            _out3=0;
+            _out4=1;
+            break;
+        }
+    }
+}
+
+void ULN2003::stepForward() {
+    _pos++;
+    if (_pos > 7) _pos = 0;
+    _set_output();
+}
+
+void ULN2003::stepReverse() {
+    _pos--;
+    if (_pos < 0) _pos = 7;
+    _set_output();
+}
+
+void ULN2003::moveForward(int steps, float speed) {
+    int delay_us_value = (1.0/speed)*1000000; // speed is in Hz = steps/sec
+    
+    for (int i=0; i<steps; i++) {
+        stepForward();
+        wait_us(delay_us_value);
+    }
+    relax();
+}
+
+void ULN2003::moveReverse(int steps, float speed) {
+    int delay_us_value = (1.0/speed)*1000000; // speed is in Hz = steps/sec
+    
+    for (int i=0; i<steps; i++) {
+        stepForward();
+        wait_us(delay_us_value);
+    }
+    relax();
+}
+
+void ULN2003::turnForward(float turns, float speed) {
+    moveForward(_full_turn_steps*turns, _full_turn_steps*speed);
+}
+
+void ULN2003::turnReverse(float turns, float speed) {
+    moveForward(_full_turn_steps*turns, _full_turn_steps*speed);
+}
+
+
+void ULN2003::relax() {
+    _out1 = 0;
+    _out2 = 0;
+    _out3 = 0;
+    _out4 = 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ULN2003.h	Tue Mar 05 13:18:24 2019 +0000
@@ -0,0 +1,98 @@
+/**
+ *  @file ULN2003.h
+ *  Library to control 4 phase stepper motors using ULN2003
+ *
+ *  @author Fernando Cosentino
+*/
+
+#ifndef __ULN2003
+#define __ULN2003
+
+#include "mbed.h"
+
+/**
+ *  ULN2003 Class
+ * 
+ *  @author Fernando Cosentino
+ */
+class ULN2003 {
+public:
+    /**
+     *  Creates an instance.
+     *
+     *  @param pinOut1 Pin connected to IN1 in ULN2003 board
+     *  @param pinOut2 Pin connected to IN2 in ULN2003 board
+     *  @param pinOut3 Pin connected to IN3 in ULN2003 board
+     *  @param pinOut4 Pin connected to IN4 in ULN2003 board
+     *  @param full_turn_steps Amount of steps for a complete turn (4096 for 28BYJ-48)
+     */
+    ULN2003(PinName pinOut1, PinName pinOut2, PinName pinOut3, PinName pinOut4, int full_turn_steps = 4096);
+    
+    /**
+     *  Moves the motor one step clockwise, and leaves the motor powered.
+     */
+    void stepForward();
+
+    /**
+     *  Moves the motor one step counter-clockwise, and leaves the motor powered.
+     */
+    void stepReverse();
+    
+    /**
+     *  Moves the motor a number of steps clockwise, in the given speed. Leaves
+     *  the motor in relaxed state (no power in any coil).
+     *
+     *  @param steps Number of steps to move
+     *  @param speed Speed in steps per second
+     *  @note 28BYJ-48 can't handle speeds higher than 833 steps per second
+     */
+    void moveForward(int steps, float speed = 500);
+
+    /**
+     *  Moves the motor a number of steps counter-clockwise, in the given speed. 
+     *  Leaves the motor in relaxed state (no power in any coil).
+     *
+     *  @param steps Number of steps to move
+     *  @param speed Speed in steps per second
+     *  @note 28BYJ-48 can't handle speeds higher than 833 steps per second
+     */
+    void moveReverse(int steps, float speed = 500);
+    
+    /**
+     *  Moves the motor a number of turns clockwise, in the given speed. 
+     *  Leaves the motor in relaxed state (no power in any coil).
+     *
+     *  @param turns Number of complete turns to move (can be fractional)
+     *  @param speed Speed in complete turns per second
+     *  @note 28BYJ-48 can't handle speeds higher than 0.2 turns per second
+     */
+    void turnForward(float turns, float speed = 0.2); 
+
+    /**
+     *  Moves the motor a number of turns counter-clockwise, in the given speed. 
+     *  Leaves the motor in relaxed state (no power in any coil).
+     *
+     *  @param turns Number of complete turns to move (can be fractional)
+     *  @param speed Speed in complete turns per second
+     *  @note 28BYJ-48 can't handle speeds higher than 0.2 turns per second
+     */
+    void turnReverse(float turns, float speed = 0.2); 
+    
+    
+    /**
+     *  Removes power from all coils, so no energy is spent and the motor is
+     *  free to be moved passively.
+     */
+     void relax();
+
+private:    
+    void _set_output();
+    DigitalOut _out1;
+    DigitalOut _out2;
+    DigitalOut _out3;
+    DigitalOut _out4;
+    int _pos;
+    int _full_turn_steps;
+};
+
+#endif