simple library for applying number of steps, direction, speed and a linear acceleration-deceleration to a Stepper Motor Controller
Dependents: 16A_Autopancakemaker
stepper.h@1:ef0414c3ce83, 2010-11-02 (annotated)
- Committer:
- franzachatz
- Date:
- Tue Nov 02 10:29:48 2010 +0000
- Revision:
- 1:ef0414c3ce83
- Parent:
- 0:27b548e34acc
- Child:
- 2:ad11f550b379
Version 0.2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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franzachatz | 0:27b548e34acc | 1 | /* mbed Stepper Library |
franzachatz | 0:27b548e34acc | 2 | * Copyright (c) 2010 fachatz |
franzachatz | 0:27b548e34acc | 3 | * |
franzachatz | 0:27b548e34acc | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
franzachatz | 0:27b548e34acc | 5 | * of this software and associated documentation files (the "Software"), to deal |
franzachatz | 0:27b548e34acc | 6 | * in the Software without restriction, including without limitation the rights |
franzachatz | 0:27b548e34acc | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
franzachatz | 0:27b548e34acc | 8 | * copies of the Software, and to permit persons to whom the Software is |
franzachatz | 0:27b548e34acc | 9 | * furnished to do so, subject to the following conditions: |
franzachatz | 0:27b548e34acc | 10 | * |
franzachatz | 0:27b548e34acc | 11 | * The above copyright notice and this permission notice shall be included in |
franzachatz | 0:27b548e34acc | 12 | * all copies or substantial portions of the Software. |
franzachatz | 0:27b548e34acc | 13 | * |
franzachatz | 0:27b548e34acc | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
franzachatz | 0:27b548e34acc | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
franzachatz | 0:27b548e34acc | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
franzachatz | 0:27b548e34acc | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
franzachatz | 0:27b548e34acc | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
franzachatz | 0:27b548e34acc | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
franzachatz | 0:27b548e34acc | 20 | * THE SOFTWARE. |
franzachatz | 0:27b548e34acc | 21 | */ |
franzachatz | 0:27b548e34acc | 22 | #ifndef MBED_STEPPER_H |
franzachatz | 0:27b548e34acc | 23 | #define MBED_STEPPER_H |
franzachatz | 0:27b548e34acc | 24 | |
franzachatz | 0:27b548e34acc | 25 | #include "mbed.h" |
franzachatz | 0:27b548e34acc | 26 | |
franzachatz | 0:27b548e34acc | 27 | /** Stepper control class |
franzachatz | 0:27b548e34acc | 28 | * |
franzachatz | 0:27b548e34acc | 29 | * Example: |
franzachatz | 0:27b548e34acc | 30 | * @code |
franzachatz | 0:27b548e34acc | 31 | * // apply number of steps, direction, speed and |
franzachatz | 0:27b548e34acc | 32 | * // a linear accelleration on/off to a Stepper Motor Controller |
franzachatz | 0:27b548e34acc | 33 | * #include "mbed.h" |
franzachatz | 0:27b548e34acc | 34 | * #include "stepper.h" |
franzachatz | 0:27b548e34acc | 35 | * |
franzachatz | 0:27b548e34acc | 36 | * #define ACCEL_ON 1 |
franzachatz | 0:27b548e34acc | 37 | * #define ACCEL_OFF 0 |
franzachatz | 0:27b548e34acc | 38 | * #define SPEED 100 |
franzachatz | 0:27b548e34acc | 39 | * |
franzachatz | 1:ef0414c3ce83 | 40 | * stepper x(p18,p21); |
franzachatz | 1:ef0414c3ce83 | 41 | * stepper y(p19,p22); |
franzachatz | 1:ef0414c3ce83 | 42 | * stepper z(p20,p23); |
franzachatz | 0:27b548e34acc | 43 | * |
franzachatz | 0:27b548e34acc | 44 | * int main() |
franzachatz | 0:27b548e34acc | 45 | * { |
franzachatz | 0:27b548e34acc | 46 | * x.step(1000,1,SPEED,ACCEL_ON); |
franzachatz | 0:27b548e34acc | 47 | * y.step(5000,0,SPEED,ACCEL_ON); |
franzachatz | 0:27b548e34acc | 48 | * z.step(2000,1,SPEED,ACCEL_ON); |
franzachatz | 0:27b548e34acc | 49 | * |
franzachatz | 0:27b548e34acc | 50 | * } |
franzachatz | 0:27b548e34acc | 51 | * @endcode |
franzachatz | 0:27b548e34acc | 52 | */ |
franzachatz | 0:27b548e34acc | 53 | class stepper { |
franzachatz | 0:27b548e34acc | 54 | |
franzachatz | 0:27b548e34acc | 55 | public: |
franzachatz | 0:27b548e34acc | 56 | |
franzachatz | 0:27b548e34acc | 57 | /** Create a stepper object connected to the specified clk pin and dir pin |
franzachatz | 0:27b548e34acc | 58 | * |
franzachatz | 0:27b548e34acc | 59 | * @param pin clk pin to connect to |
franzachatz | 0:27b548e34acc | 60 | * @param pin dir pin to connect to |
franzachatz | 0:27b548e34acc | 61 | */ |
franzachatz | 0:27b548e34acc | 62 | stepper(PinName clk, PinName dir); |
franzachatz | 0:27b548e34acc | 63 | |
franzachatz | 0:27b548e34acc | 64 | /** Set number of steps to direction with speed and |
franzachatz | 0:27b548e34acc | 65 | * a linear accelleration on/off to a Stepper Motor Controller |
franzachatz | 0:27b548e34acc | 66 | * |
franzachatz | 0:27b548e34acc | 67 | * @param n_steps number of steps to go |
franzachatz | 0:27b548e34acc | 68 | * @param direction 1 or 0 |
franzachatz | 0:27b548e34acc | 69 | * @param time value for value in us |
franzachatz | 0:27b548e34acc | 70 | * @param accel 1 or 0 for accel on/off |
franzachatz | 0:27b548e34acc | 71 | */ |
franzachatz | 0:27b548e34acc | 72 | void step(int n_steps, bool direction, int speed, bool accel); |
franzachatz | 0:27b548e34acc | 73 | |
franzachatz | 0:27b548e34acc | 74 | /** get version number |
franzachatz | 0:27b548e34acc | 75 | * |
franzachatz | 0:27b548e34acc | 76 | * @param returns Library version number |
franzachatz | 0:27b548e34acc | 77 | */ |
franzachatz | 0:27b548e34acc | 78 | float version(void); |
franzachatz | 0:27b548e34acc | 79 | |
franzachatz | 0:27b548e34acc | 80 | private: |
franzachatz | 0:27b548e34acc | 81 | DigitalOut _clk; |
franzachatz | 0:27b548e34acc | 82 | DigitalOut _dir; |
franzachatz | 0:27b548e34acc | 83 | |
franzachatz | 0:27b548e34acc | 84 | }; |
franzachatz | 0:27b548e34acc | 85 | |
franzachatz | 0:27b548e34acc | 86 | #endif |