Keegan Hu / Mbed 2 deprecated finalwarehouse

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Dependencies:   a4998ss mbed

Fork of whouse by Keegan Hu

Stepper_motor.cpp@1:6bf8f2422228, 2018-05-11 (annotated)

Committer:
glintligo
Date:
Fri May 11 06:55:13 2018 +0000
Revision:
1:6bf8f2422228
Parent:
0:2e00b81c9137
Child:
2:ecf401a37aa3
fff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bilybill 0:2e00b81c9137 1 #include "Stepper_motor.h"
glintligo 1:6bf8f2422228 2 /**
glintligo 1:6bf8f2422228 3 * [Stepper_motor::Stepper_motor 构造函数 初始化一个步进电机对象]
glintligo 1:6bf8f2422228 4 * @param _en [en引脚]
glintligo 1:6bf8f2422228 5 * @param _stepPin [step引脚]
glintligo 1:6bf8f2422228 6 * @param _dirPin [dir引脚]
glintligo 1:6bf8f2422228 7 * @param Inter [行程开关引脚]
glintligo 1:6bf8f2422228 8 * @param _ratio [减速比]
glintligo 1:6bf8f2422228 9 * @param _micorstep [细分数]
glintligo 1:6bf8f2422228 10 * @param _dir [初始方向]
glintligo 1:6bf8f2422228 11 * @param _rec [电机的转一圈所需脉冲数（未减速前）]
glintligo 1:6bf8f2422228 12 */
Bilybill 0:2e00b81c9137 13 Stepper_motor::Stepper_motor(PinName _en,PinName _stepPin,PinName _dirPin,PinName Inter,int _ratio,int _micorstep,int _dir,float _rec):Stepper(_en,_stepPin,_dirPin),InterruptIn(Inter)
Bilybill 0:2e00b81c9137 14 {
Bilybill 0:2e00b81c9137 15 ratio = _ratio;
Bilybill 0:2e00b81c9137 16 microstep = _micorstep;
Bilybill 0:2e00b81c9137 17 dir = _dir;
glintligo 1:6bf8f2422228 18 Ori_rec = 360.0 / _rec;
Bilybill 0:2e00b81c9137 19 pos_dir = 1;
Bilybill 0:2e00b81c9137 20 this->enable();
Bilybill 0:2e00b81c9137 21 }
glintligo 1:6bf8f2422228 22 /**
glintligo 1:6bf8f2422228 23 * [Stepper_motor::Config 步进电机角度速度控制]
glintligo 1:6bf8f2422228 24 * @param rec_rate [转速 单位deg/s]
glintligo 1:6bf8f2422228 25 * @param rec [转动的角度 单位 °]
glintligo 1:6bf8f2422228 26 * 若转动的角度为-1 则会一直转，此时rec_rate需大于0
glintligo 1:6bf8f2422228 27 * 除此之外，若转动角度或转速小于0，则电机反转
glintligo 1:6bf8f2422228 28 * 如在电机尚未停止前再次调用该函数，则会立刻开始新的电机运动
glintligo 1:6bf8f2422228 29 */
Bilybill 0:2e00b81c9137 30 void Stepper_motor::Config(float rec_rate,float rec)
Bilybill 0:2e00b81c9137 31 {
Bilybill 0:2e00b81c9137 32 if(rec < 0 && rec != -1)
Bilybill 0:2e00b81c9137 33 {
Bilybill 0:2e00b81c9137 34 rec_rate = 0 - rec_rate;
Bilybill 0:2e00b81c9137 35 rec = 0 - rec;
Bilybill 0:2e00b81c9137 36 }
Bilybill 0:2e00b81c9137 37 long long int frequency = rec_rate * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 38 if(frequency < 0)
Bilybill 0:2e00b81c9137 39 {
Bilybill 0:2e00b81c9137 40 dir = 1 - pos_dir;
Bilybill 0:2e00b81c9137 41 frequency = 0 - frequency;
Bilybill 0:2e00b81c9137 42 }
Bilybill 0:2e00b81c9137 43 else if(frequency == 0)
Bilybill 0:2e00b81c9137 44 {
Bilybill 0:2e00b81c9137 45 this->disable();
Bilybill 0:2e00b81c9137 46 return;
Bilybill 0:2e00b81c9137 47 }
Bilybill 0:2e00b81c9137 48 else if(frequency > 0)
Bilybill 0:2e00b81c9137 49 {
Bilybill 0:2e00b81c9137 50 dir = pos_dir;
Bilybill 0:2e00b81c9137 51 }
Bilybill 0:2e00b81c9137 52 long long int remain = rec * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 53 this->enable();
Bilybill 0:2e00b81c9137 54 this->step(dir,frequency,remain);
Bilybill 0:2e00b81c9137 55
Bilybill 0:2e00b81c9137 56 }
glintligo 1:6bf8f2422228 57 /**
glintligo 1:6bf8f2422228 58 * [Stepper_motor::getDir 获取电机的转动方向dir]
glintligo 1:6bf8f2422228 59 * @return [dir]
glintligo 1:6bf8f2422228 60 */
Bilybill 0:2e00b81c9137 61 int Stepper_motor::getDir()
Bilybill 0:2e00b81c9137 62 {
Bilybill 0:2e00b81c9137 63 return this->dir;
Bilybill 0:2e00b81c9137 64 }
glintligo 1:6bf8f2422228 65
glintligo 1:6bf8f2422228 66 /**
glintligo 1:6bf8f2422228 67 * [Stepper_motor::reConfig 步进电机反转]
glintligo 1:6bf8f2422228 68 * @param _rec [反转的角度]
glintligo 1:6bf8f2422228 69 * 速度为5°/s
glintligo 1:6bf8f2422228 70 */
Bilybill 0:2e00b81c9137 71 void Stepper_motor::reConfig(float _rec)
Bilybill 0:2e00b81c9137 72 {
Bilybill 0:2e00b81c9137 73 dir = 1 - dir;
Bilybill 0:2e00b81c9137 74 long long int frequency = 5 * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 75 long long int remain = _rec * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 76 this->enable();
Bilybill 0:2e00b81c9137 77 this->step(dir,frequency,remain);
Bilybill 0:2e00b81c9137 78 }
glintligo 1:6bf8f2422228 79
glintligo 1:6bf8f2422228 80 /**
glintligo 1:6bf8f2422228 81 * [Stepper_motor::set 行程开关按下后的运动函数]
glintligo 1:6bf8f2422228 82 */
Bilybill 0:2e00b81c9137 83 void Stepper_motor::set()
Bilybill 0:2e00b81c9137 84 {
glintligo 1:6bf8f2422228 85 this -> Config(0,0);//停止运动
Bilybill 0:2e00b81c9137 86 wait(0.01);
Bilybill 0:2e00b81c9137 87 this -> enable();
Bilybill 0:2e00b81c9137 88 this -> Config(-5,7);
Bilybill 0:2e00b81c9137 89 }
glintligo 1:6bf8f2422228 90
glintligo 1:6bf8f2422228 91 /** [Stepper_motor::Init 步进电机初始化] */
Bilybill 0:2e00b81c9137 92 void Stepper_motor::Init()
Bilybill 0:2e00b81c9137 93 {
Bilybill 0:2e00b81c9137 94 this->Config(10,-1);
Bilybill 0:2e00b81c9137 95 this->fall(this,&Stepper_motor::set);
Bilybill 0:2e00b81c9137 96 }