stepper.cpp

00001 /* mbed Stepper Library
00002  * Copyright (c) 2010 fachatz
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 #include "stepper.h"
00023 #include "mbed.h"
00024 
00025  // define the Stepper Motor save start/stop speed 
00026 #define START_STOP_SPEED 300
00027 
00028 // define Library version number
00029 #define VERSION 0.3
00030 
00031 // led4, used for testing the direction signal
00032 DigitalOut led4(LED4);
00033 
00034 stepper::stepper(PinName clk, PinName dir) : _clk(clk), _dir(dir) {
00035     _clk = 0, _dir = 0;
00036 }
00037 
00038 void stepper::step(int n_steps, bool direction, int speed, bool accel) {
00039     int accelspeed;
00040     if(accel) accelspeed = START_STOP_SPEED;
00041     else accelspeed = speed;
00042     for(int i=0; i<n_steps; i++) 
00043     {
00044         if(accel)//linear acceleration
00045         {
00046           if(i < START_STOP_SPEED) if (--accelspeed == speed) accelspeed ++; 
00047           if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
00048         }  
00049         _dir = led4 = direction;
00050         _clk = 1;
00051         wait_us(1);
00052         _clk = 0;
00053         wait_us(1);
00054         wait_us(accelspeed);
00055     }
00056 }
00057 
00058 // version() returns the version number of the library
00059 float stepper::version(void) {
00060     return VERSION;    
00061 }