Justin Jordan / Mbed 2 deprecated R5_StepperDrive

update 1/27/16

Dependencies:   mbed

Fork of R5_StepperDrive by Jaime Martinez

StepperDrive.h@0:266a770a17e9, 2015-11-22 (annotated)

Committer:
jmar11
Date:
Sun Nov 22 19:27:47 2015 +0000
Revision:
0:266a770a17e9
Child:
1:909572175aad
First. Library to control drive stepper motors for TX state IEEE team 1.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmar11 0:266a770a17e9 1 #ifndef _STEPPER_DRIVE_
jmar11 0:266a770a17e9 2 #define _STEPPER_DRIVE_
jmar11 0:266a770a17e9 3
jmar11 0:266a770a17e9 4 #include "mbed.h"
jmar11 0:266a770a17e9 5
jmar11 0:266a770a17e9 6 #define Ustep 16 //microstepping setup: 1, 2, 4, 8, or 16
jmar11 0:266a770a17e9 7
jmar11 0:266a770a17e9 8 class StepperDrive{
jmar11 0:266a770a17e9 9 public:
jmar11 0:266a770a17e9 10 StepperDrive(PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9 = 1000);
jmar11 0:266a770a17e9 11 //(stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
jmar11 0:266a770a17e9 12 int move(float distance, float angle);
jmar11 0:266a770a17e9 13 bool isMoveDone();
jmar11 0:266a770a17e9 14
jmar11 0:266a770a17e9 15 private:
jmar11 0:266a770a17e9 16 Ticker pit; //periodic interrupt timer
jmar11 0:266a770a17e9 17
jmar11 0:266a770a17e9 18 void pitCallback();
jmar11 0:266a770a17e9 19
jmar11 0:266a770a17e9 20 void stepRight(bool dir);
jmar11 0:266a770a17e9 21 void stepLeft(bool dir);
jmar11 0:266a770a17e9 22
jmar11 0:266a770a17e9 23 DigitalOut leftStep;
jmar11 0:266a770a17e9 24 DigitalOut leftDir;
jmar11 0:266a770a17e9 25 DigitalOut rightStep;
jmar11 0:266a770a17e9 26 DigitalOut rightDir;
jmar11 0:266a770a17e9 27
jmar11 0:266a770a17e9 28 float wheelCircum; //wheel circumference
jmar11 0:266a770a17e9 29 float wheelSepar; //distance between wheels
jmar11 0:266a770a17e9 30 bool invertLeft; //software wheel direction inversion
jmar11 0:266a770a17e9 31 bool invertRight; //software wheel direction inversion
jmar11 0:266a770a17e9 32 bool moveComplete;
jmar11 0:266a770a17e9 33
jmar11 0:266a770a17e9 34 int leftSteps;
jmar11 0:266a770a17e9 35 int rightSteps;
jmar11 0:266a770a17e9 36 float leftStepsPC;
jmar11 0:266a770a17e9 37 float rightStepsPC;
jmar11 0:266a770a17e9 38 float leftError;
jmar11 0:266a770a17e9 39 float rightError;
jmar11 0:266a770a17e9 40 };
jmar11 0:266a770a17e9 41
jmar11 0:266a770a17e9 42 #endif