David Lowe / stepper

Modified phase table in stepper.cpp to enable stepping a bipolar motor using a twin H-bridge driver.

Fork of stepper by Kenji Arai

Embed: (wiki syntax)

« Back to documentation index

STEPPER Class Reference
Public Types | Public Member Functions

STEPPER Class Reference

Unipolar Type Stepping Motor Driver using 4 Outputs(DigitalOut) with timer interrupt(Ticker) More...

#include <stepper.h>

Public Types

enum  MOTOR_STATE
 

pulse width definition -> Use for start and stop phase = data * TIMEBASE -> e.g following data = 5 then 5*15000/1000 = 75mS

More...

Public Member Functions

 STEPPER (PinName xp, PinName xn, PinName yp, PinName yn)
 Configure data pin.
void move (int32_t steps)
 Move steps.
void set_max_speed (uint32_t time_base_us)
 Set time period (max speed of stepper)
uint8_t status (void)
 Check status.
void stop ()
 De-energize coils.

Detailed Description

Unipolar Type Stepping Motor Driver using 4 Outputs(DigitalOut) with timer interrupt(Ticker)

Driver circuit: Low side driver (4ch for one Stepper) e.g. TD62003AP CAUTION: This is only for Unipolar Type Stepping Motor! Cannot use for Bipolar Type Plese refer http://en.wikipedia.org/wiki/Stepper_motor

 #include "mbed.h"
 #include "stepper.h"

 #define TIMEBASE  15000      // 15mS

 STEPPER sm(D5, D4, D3, D2);

 uint8_t pls_width[10] = {5, 4, 3, 2, 1, 1, 1, 1, 1, 1 };

 int main() {
   sm_r.set_max_speed(TIMEBASE);
   sm.move(+100);
   while (sm.status){ ;}
   sm.move(-1000);
   wait(10);
   sm.move(0);
   while(true){;}
 }

Definition at line 56 of file stepper.h.

Member Enumeration Documentation

enum MOTOR_STATE

pulse width definition -> Use for start and stop phase = data * TIMEBASE -> e.g following data = 5 then 5*15000/1000 = 75mS

Motor Status

Definition at line 65 of file stepper.h.

Constructor & Destructor Documentation

STEPPER ( PinName  xp,
PinName  xn,
PinName  yp,
PinName  yn 
)

Configure data pin.

Parameters:
dataSDA and SCL pins

Definition at line 71 of file stepper.cpp.

Member Function Documentation

void move ( int32_t  steps )

Move steps.

Parameters:
numberof steps
Returns:
none

Definition at line 77 of file stepper.cpp.

void set_max_speed ( uint32_t  time_base_us )

Set time period (max speed of stepper)

Parameters:
time,:e.g. 10mS(=10000) -> 100 PPS(Puls per Sec)
Returns:
none

Definition at line 91 of file stepper.cpp.

uint8_t status ( void   )

Check status.

Parameters:
none
Returns:
running(= 1), stopped(= 0)

Definition at line 100 of file stepper.cpp.

void stop ( void   )

De-energize coils.

Parameters:
none
Returns:
none

Definition at line 105 of file stepper.cpp.

Generated on Thu Jul 14 2022 02:17:18 by  doxygen 1.7.2