John Alexander / VL53L3ExpansionBoard

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Dependencies:   VL53L3_Lib

Dependents:  

Components/ST_INTERFACES/Actuators/StepperMotor.h@0:293607457a02, 2020-10-16 (annotated)

Committer:
charlesmn
Date:
Fri Oct 16 15:04:28 2020 +0000
Revision:
0:293607457a02
Change typo in name

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:293607457a02 1 /**
charlesmn 0:293607457a02 2 ******************************************************************************
charlesmn 0:293607457a02 3 * @file StepperMotor.h
charlesmn 0:293607457a02 4 * @author Davide Aliprandi, STMicroelectronics
charlesmn 0:293607457a02 5 * @version V1.1.0
charlesmn 0:293607457a02 6 * @date April 6th, 2016
charlesmn 0:293607457a02 7 * @brief This file contains the abstract class describing the interface of a
charlesmn 0:293607457a02 8 * stepper-motor component.
charlesmn 0:293607457a02 9 ******************************************************************************
charlesmn 0:293607457a02 10 * @attention
charlesmn 0:293607457a02 11 *
charlesmn 0:293607457a02 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
charlesmn 0:293607457a02 13 *
charlesmn 0:293607457a02 14 * Redistribution and use in source and binary forms, with or without modification,
charlesmn 0:293607457a02 15 * are permitted provided that the following conditions are met:
charlesmn 0:293607457a02 16 * 1. Redistributions of source code must retain the above copyright notice,
charlesmn 0:293607457a02 17 * this list of conditions and the following disclaimer.
charlesmn 0:293607457a02 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
charlesmn 0:293607457a02 19 * this list of conditions and the following disclaimer in the documentation
charlesmn 0:293607457a02 20 * and/or other materials provided with the distribution.
charlesmn 0:293607457a02 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
charlesmn 0:293607457a02 22 * may be used to endorse or promote products derived from this software
charlesmn 0:293607457a02 23 * without specific prior written permission.
charlesmn 0:293607457a02 24 *
charlesmn 0:293607457a02 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
charlesmn 0:293607457a02 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
charlesmn 0:293607457a02 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
charlesmn 0:293607457a02 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
charlesmn 0:293607457a02 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
charlesmn 0:293607457a02 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
charlesmn 0:293607457a02 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
charlesmn 0:293607457a02 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
charlesmn 0:293607457a02 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
charlesmn 0:293607457a02 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
charlesmn 0:293607457a02 35 *
charlesmn 0:293607457a02 36 ******************************************************************************
charlesmn 0:293607457a02 37 */
charlesmn 0:293607457a02 38
charlesmn 0:293607457a02 39
charlesmn 0:293607457a02 40 /* Define to prevent from recursive inclusion --------------------------------*/
charlesmn 0:293607457a02 41
charlesmn 0:293607457a02 42 #ifndef __STEPPERMOTOR_CLASS_H
charlesmn 0:293607457a02 43 #define __STEPPERMOTOR_CLASS_H
charlesmn 0:293607457a02 44
charlesmn 0:293607457a02 45
charlesmn 0:293607457a02 46 /* Includes ------------------------------------------------------------------*/
charlesmn 0:293607457a02 47
charlesmn 0:293607457a02 48 #include <Component.h>
charlesmn 0:293607457a02 49
charlesmn 0:293607457a02 50
charlesmn 0:293607457a02 51 /* Classes ------------------------------------------------------------------*/
charlesmn 0:293607457a02 52
charlesmn 0:293607457a02 53 /**
charlesmn 0:293607457a02 54 * An abstract class for StepperMotor components.
charlesmn 0:293607457a02 55 */
charlesmn 0:293607457a02 56 class StepperMotor : public Component {
charlesmn 0:293607457a02 57 public:
charlesmn 0:293607457a02 58
charlesmn 0:293607457a02 59 /**
charlesmn 0:293607457a02 60 * @brief Rotation modes.
charlesmn 0:293607457a02 61 */
charlesmn 0:293607457a02 62 typedef enum {
charlesmn 0:293607457a02 63 BWD = 0, /* Backward. */
charlesmn 0:293607457a02 64 FWD = 1 /* Forward. */
charlesmn 0:293607457a02 65 } direction_t;
charlesmn 0:293607457a02 66
charlesmn 0:293607457a02 67 /**
charlesmn 0:293607457a02 68 * @brief Step modes.
charlesmn 0:293607457a02 69 */
charlesmn 0:293607457a02 70 typedef enum {
charlesmn 0:293607457a02 71 STEP_MODE_FULL = 0, /* Full-step. */
charlesmn 0:293607457a02 72 STEP_MODE_HALF, /* Half-step. */
charlesmn 0:293607457a02 73 STEP_MODE_1_4, /* 1/4 microstep. */
charlesmn 0:293607457a02 74 STEP_MODE_1_8, /* 1/8 microstep. */
charlesmn 0:293607457a02 75 STEP_MODE_1_16, /* 1/16 microstep. */
charlesmn 0:293607457a02 76 STEP_MODE_1_32, /* 1/32 microstep. */
charlesmn 0:293607457a02 77 STEP_MODE_1_64, /* 1/64 microstep. */
charlesmn 0:293607457a02 78 STEP_MODE_1_128, /* 1/128 microstep. */
charlesmn 0:293607457a02 79 STEP_MODE_1_256, /* 1/256 microstep. */
charlesmn 0:293607457a02 80 STEP_MODE_UNKNOWN, /* Unknown. */
charlesmn 0:293607457a02 81 STEP_MODE_WAVE /* Full-step one-phase-on. */
charlesmn 0:293607457a02 82 } step_mode_t;
charlesmn 0:293607457a02 83
charlesmn 0:293607457a02 84 /**
charlesmn 0:293607457a02 85 * @brief Getting the status.
charlesmn 0:293607457a02 86 * @param None.
charlesmn 0:293607457a02 87 * @retval The status.
charlesmn 0:293607457a02 88 */
charlesmn 0:293607457a02 89 virtual unsigned int get_status(void) = 0;
charlesmn 0:293607457a02 90
charlesmn 0:293607457a02 91 /**
charlesmn 0:293607457a02 92 * @brief Getting the position.
charlesmn 0:293607457a02 93 * @param None.
charlesmn 0:293607457a02 94 * @retval The position.
charlesmn 0:293607457a02 95 */
charlesmn 0:293607457a02 96 virtual signed int get_position(void) = 0;
charlesmn 0:293607457a02 97
charlesmn 0:293607457a02 98 /**
charlesmn 0:293607457a02 99 * @brief Getting the marked position.
charlesmn 0:293607457a02 100 * @param None.
charlesmn 0:293607457a02 101 * @retval The marked position.
charlesmn 0:293607457a02 102 */
charlesmn 0:293607457a02 103 virtual signed int get_mark(void) = 0;
charlesmn 0:293607457a02 104
charlesmn 0:293607457a02 105 /**
charlesmn 0:293607457a02 106 * @brief Getting the current speed in pps.
charlesmn 0:293607457a02 107 * @param None.
charlesmn 0:293607457a02 108 * @retval The current speed in pps.
charlesmn 0:293607457a02 109 */
charlesmn 0:293607457a02 110 virtual unsigned int get_speed(void) = 0;
charlesmn 0:293607457a02 111
charlesmn 0:293607457a02 112 /**
charlesmn 0:293607457a02 113 * @brief Getting the maximum speed in pps.
charlesmn 0:293607457a02 114 * @param None.
charlesmn 0:293607457a02 115 * @retval The maximum speed in pps.
charlesmn 0:293607457a02 116 */
charlesmn 0:293607457a02 117 virtual unsigned int get_max_speed(void) = 0;
charlesmn 0:293607457a02 118
charlesmn 0:293607457a02 119 /**
charlesmn 0:293607457a02 120 * @brief Getting the minimum speed in pps.
charlesmn 0:293607457a02 121 * @param None.
charlesmn 0:293607457a02 122 * @retval The minimum speed in pps.
charlesmn 0:293607457a02 123 */
charlesmn 0:293607457a02 124 virtual unsigned int get_min_speed(void) = 0;
charlesmn 0:293607457a02 125
charlesmn 0:293607457a02 126 /**
charlesmn 0:293607457a02 127 * @brief Getting the acceleration in pps^2.
charlesmn 0:293607457a02 128 * @param None.
charlesmn 0:293607457a02 129 * @retval The acceleration in pps^2.
charlesmn 0:293607457a02 130 */
charlesmn 0:293607457a02 131 virtual unsigned int get_acceleration(void) = 0;
charlesmn 0:293607457a02 132
charlesmn 0:293607457a02 133 /**
charlesmn 0:293607457a02 134 * @brief Getting the deceleration in pps^2.
charlesmn 0:293607457a02 135 * @param None.
charlesmn 0:293607457a02 136 * @retval The deceleration in pps^2.
charlesmn 0:293607457a02 137 */
charlesmn 0:293607457a02 138 virtual unsigned int get_deceleration(void) = 0;
charlesmn 0:293607457a02 139
charlesmn 0:293607457a02 140 /**
charlesmn 0:293607457a02 141 * @brief Getting the direction of rotation.
charlesmn 0:293607457a02 142 * @param None.
charlesmn 0:293607457a02 143 * @retval The direction of rotation.
charlesmn 0:293607457a02 144 */
charlesmn 0:293607457a02 145 virtual direction_t get_direction(void) = 0;
charlesmn 0:293607457a02 146
charlesmn 0:293607457a02 147 /**
charlesmn 0:293607457a02 148 * @brief Setting the current position to be the home position.
charlesmn 0:293607457a02 149 * @param None.
charlesmn 0:293607457a02 150 * @retval None.
charlesmn 0:293607457a02 151 */
charlesmn 0:293607457a02 152 virtual void set_home(void) = 0;
charlesmn 0:293607457a02 153
charlesmn 0:293607457a02 154 /**
charlesmn 0:293607457a02 155 * @brief Setting the current position to be the marked position.
charlesmn 0:293607457a02 156 * @param None.
charlesmn 0:293607457a02 157 * @retval None.
charlesmn 0:293607457a02 158 */
charlesmn 0:293607457a02 159 virtual void set_mark(void) = 0;
charlesmn 0:293607457a02 160
charlesmn 0:293607457a02 161 /**
charlesmn 0:293607457a02 162 * @brief Setting the maximum speed in pps.
charlesmn 0:293607457a02 163 * @param speed The maximum speed in pps.
charlesmn 0:293607457a02 164 * @retval "true" in case of success, "false" otherwise.
charlesmn 0:293607457a02 165 */
charlesmn 0:293607457a02 166 virtual bool set_max_speed(unsigned int speed) = 0;
charlesmn 0:293607457a02 167
charlesmn 0:293607457a02 168 /**
charlesmn 0:293607457a02 169 * @brief Setting the minimum speed in pps.
charlesmn 0:293607457a02 170 * @param speed The minimum speed in pps.
charlesmn 0:293607457a02 171 * @retval "true" in case of success, "false" otherwise.
charlesmn 0:293607457a02 172 */
charlesmn 0:293607457a02 173 virtual bool set_min_speed(unsigned int speed) = 0;
charlesmn 0:293607457a02 174
charlesmn 0:293607457a02 175 /**
charlesmn 0:293607457a02 176 * @brief Setting the acceleration in pps^2.
charlesmn 0:293607457a02 177 * @param acceleration The acceleration in pps^2.
charlesmn 0:293607457a02 178 * @retval "true" in case of success, "false" otherwise.
charlesmn 0:293607457a02 179 */
charlesmn 0:293607457a02 180 virtual bool set_acceleration(unsigned int acceleration) = 0;
charlesmn 0:293607457a02 181
charlesmn 0:293607457a02 182 /**
charlesmn 0:293607457a02 183 * @brief Setting the deceleration in pps^2.
charlesmn 0:293607457a02 184 * @param deceleration The deceleration in pps^2.
charlesmn 0:293607457a02 185 * @retval "true" in case of success, "false" otherwise.
charlesmn 0:293607457a02 186 */
charlesmn 0:293607457a02 187 virtual bool set_deceleration(unsigned int deceleration) = 0;
charlesmn 0:293607457a02 188
charlesmn 0:293607457a02 189 /**
charlesmn 0:293607457a02 190 * @brief Setting the Step Mode.
charlesmn 0:293607457a02 191 * @param step_mode The Step Mode.
charlesmn 0:293607457a02 192 * @retval "true" in case of success, "false" otherwise.
charlesmn 0:293607457a02 193 */
charlesmn 0:293607457a02 194 virtual bool set_step_mode(step_mode_t step_mode) = 0;
charlesmn 0:293607457a02 195
charlesmn 0:293607457a02 196 /**
charlesmn 0:293607457a02 197 * @brief Going to a specified position.
charlesmn 0:293607457a02 198 * @param position The desired position.
charlesmn 0:293607457a02 199 * @retval None.
charlesmn 0:293607457a02 200 */
charlesmn 0:293607457a02 201 virtual void go_to(signed int position) = 0;
charlesmn 0:293607457a02 202
charlesmn 0:293607457a02 203 /**
charlesmn 0:293607457a02 204 * @brief Going to the home position.
charlesmn 0:293607457a02 205 * @param None.
charlesmn 0:293607457a02 206 * @retval None.
charlesmn 0:293607457a02 207 */
charlesmn 0:293607457a02 208 virtual void go_home(void) = 0;
charlesmn 0:293607457a02 209
charlesmn 0:293607457a02 210 /**
charlesmn 0:293607457a02 211 * @brief Going to the marked position.
charlesmn 0:293607457a02 212 * @param None.
charlesmn 0:293607457a02 213 * @retval None.
charlesmn 0:293607457a02 214 */
charlesmn 0:293607457a02 215 virtual void go_mark(void) = 0;
charlesmn 0:293607457a02 216
charlesmn 0:293607457a02 217 /**
charlesmn 0:293607457a02 218 * @brief Running the motor towards a specified direction.
charlesmn 0:293607457a02 219 * @param direction The direction of rotation.
charlesmn 0:293607457a02 220 * @retval None.
charlesmn 0:293607457a02 221 */
charlesmn 0:293607457a02 222 virtual void run(direction_t direction) = 0;
charlesmn 0:293607457a02 223
charlesmn 0:293607457a02 224 /**
charlesmn 0:293607457a02 225 * @brief Moving the motor towards a specified direction for a certain number of steps.
charlesmn 0:293607457a02 226 * @param direction The direction of rotation.
charlesmn 0:293607457a02 227 * @param steps The desired number of steps.
charlesmn 0:293607457a02 228 * @retval None.
charlesmn 0:293607457a02 229 */
charlesmn 0:293607457a02 230 virtual void move(direction_t direction, unsigned int steps) = 0;
charlesmn 0:293607457a02 231
charlesmn 0:293607457a02 232 /**
charlesmn 0:293607457a02 233 * @brief Stopping the motor through an immediate deceleration up to zero speed.
charlesmn 0:293607457a02 234 * @param None.
charlesmn 0:293607457a02 235 * @retval None.
charlesmn 0:293607457a02 236 */
charlesmn 0:293607457a02 237 virtual void soft_stop(void) = 0;
charlesmn 0:293607457a02 238
charlesmn 0:293607457a02 239 /**
charlesmn 0:293607457a02 240 * @brief Stopping the motor through an immediate infinite deceleration.
charlesmn 0:293607457a02 241 * @param None.
charlesmn 0:293607457a02 242 * @retval None.
charlesmn 0:293607457a02 243 */
charlesmn 0:293607457a02 244 virtual void hard_stop(void) = 0;
charlesmn 0:293607457a02 245
charlesmn 0:293607457a02 246 /**
charlesmn 0:293607457a02 247 * @brief Disabling the power bridge after performing a deceleration to zero.
charlesmn 0:293607457a02 248 * @param None.
charlesmn 0:293607457a02 249 * @retval None.
charlesmn 0:293607457a02 250 */
charlesmn 0:293607457a02 251 virtual void soft_hiz(void) = 0;
charlesmn 0:293607457a02 252
charlesmn 0:293607457a02 253 /**
charlesmn 0:293607457a02 254 * @brief Disabling the power bridge immediately.
charlesmn 0:293607457a02 255 * @param None.
charlesmn 0:293607457a02 256 * @retval None.
charlesmn 0:293607457a02 257 */
charlesmn 0:293607457a02 258 virtual void hard_hiz(void) = 0;
charlesmn 0:293607457a02 259
charlesmn 0:293607457a02 260 /**
charlesmn 0:293607457a02 261 * @brief Waiting while the motor is active.
charlesmn 0:293607457a02 262 * @param None.
charlesmn 0:293607457a02 263 * @retval None.
charlesmn 0:293607457a02 264 */
charlesmn 0:293607457a02 265 virtual void wait_while_active(void) = 0;
charlesmn 0:293607457a02 266
charlesmn 0:293607457a02 267 /**
charlesmn 0:293607457a02 268 * @brief Destructor.
charlesmn 0:293607457a02 269 */
charlesmn 0:293607457a02 270 virtual ~StepperMotor() {};
charlesmn 0:293607457a02 271 };
charlesmn 0:293607457a02 272
charlesmn 0:293607457a02 273 #endif /* __STEPPERMOTOR_CLASS_H */
charlesmn 0:293607457a02 274
charlesmn 0:293607457a02 275 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/