StepperDrive.h

00001 #ifndef _STEPPER_DRIVE_
00002 #define _STEPPER_DRIVE_
00003 
00004 #include "mbed.h"
00005 
00006 #define Ustep   16  //microstepping setup: 1, 2, 4, 8, or 16
00007 
00008 class StepperDrive{
00009     public:
00010     StepperDrive(Serial &pc1, PinName in1, PinName in2, bool in3, PinName in4, PinName in5, bool in6, float in7, float in8, float in9 = 1000);
00011               //(serisl &, stepPinLeft, dirPinLeft, invertLeft, stepPinRight, dirPinRight, invertRight, wheelCircum, wheelSepar, periodUs)
00012     int move(float distance, float angle);
00013     bool isMoveDone();
00014     void pauseMove();
00015     void resumeMove();
00016 
00017     Serial &pc;
00018     int getRightSteps() { return rightSteps; }
00019     int getLeftSteps() { return leftSteps; }
00020 
00021     private:
00022     Ticker pit;           //periodic interrupt timer
00023 
00024     void pitCallback();
00025 
00026     void stepRight(bool dir);
00027     void stepLeft(bool dir);
00028 
00029     DigitalOut leftStep;
00030     DigitalOut leftDir;
00031     DigitalOut rightStep;
00032     DigitalOut rightDir;
00033 
00034     float wheelCircum;     //wheel circumference
00035     float wheelSepar;      //distance between wheels
00036     bool invertLeft;       //software wheel direction inversion
00037     bool invertRight;      //software wheel direction inversion
00038     bool moveComplete;
00039 
00040     int leftSteps;
00041     int rightSteps;
00042     float leftStepsPC;
00043     float rightStepsPC;
00044     float leftError;
00045     float rightError;
00046     int leftStepsPause; // for holding steps left during pause
00047     int rightStepsPause; // for holding steps right during pause
00048 };
00049 
00050 #endif