StepperMotor_class.h

00001 /**
00002  ******************************************************************************
00003  * @file    StepperMotor_class.h
00004  * @author  Davide Aliprandi, STMicroelectronics
00005  * @version V1.0.0
00006  * @date    November 12th, 2015
00007  * @brief   This file contains the abstract class describing the interface of a
00008  *          stepper-motor component.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Define to prevent from recursive inclusion --------------------------------*/
00041 
00042 #ifndef __STEPPERMOTOR_CLASS_H
00043 #define __STEPPERMOTOR_CLASS_H
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 
00048 #include <Component_class.h>
00049 
00050 
00051 /* Classes  ------------------------------------------------------------------*/
00052 
00053 /** An abstract class for StepperMotor components.
00054  */
00055 class StepperMotor : public Component
00056 {
00057 public:
00058     /**
00059      * @brief Rotation modes.
00060      */
00061     typedef enum
00062     {
00063       BWD = 0, /* Backward. */
00064       FWD = 1  /* Forward. */
00065     } direction_t;
00066 
00067     /**
00068      * @brief  Getting the status.
00069      * @param  None.
00070      * @retval The status.
00071      */
00072     virtual unsigned int GetStatus(void) = 0;
00073 
00074     /**
00075      * @brief  Getting a parameter.
00076      * @param  parameter The parameter's identifier (or its register address).
00077      * @retval The parameter's value.
00078      */
00079     virtual float GetParameter(unsigned int parameter) = 0;
00080 
00081     /**
00082      * @brief  Getting the position.
00083      * @param  None.
00084      * @retval The position.
00085      */
00086     virtual signed int GetPosition(void) = 0;
00087 
00088     /**
00089      * @brief  Getting the marked position.
00090      * @param  None.
00091      * @retval The marked position.
00092      */
00093     virtual signed int GetMark(void) = 0;
00094 
00095     /**
00096      * @brief  Getting the current speed in pps.
00097      * @param  None.
00098      * @retval The current speed in pps.
00099      */
00100     virtual unsigned int GetSpeed(void) = 0;
00101 
00102     /**
00103      * @brief  Getting the maximum speed in pps.
00104      * @param  None.
00105      * @retval The maximum speed in pps.
00106      */
00107     virtual unsigned int GetMaxSpeed(void) = 0;
00108 
00109     /**
00110      * @brief  Getting the minimum speed in pps.
00111      * @param  None.
00112      * @retval The minimum speed in pps.
00113      */
00114     virtual unsigned int GetMinSpeed(void) = 0;
00115 
00116     /**
00117      * @brief  Getting the acceleration in pps^2.
00118      * @param  None.
00119      * @retval The acceleration in pps^2.
00120      */
00121     virtual unsigned int GetAcceleration(void) = 0;
00122 
00123     /**
00124      * @brief  Getting the deceleration in pps^2.
00125      * @param  None.
00126      * @retval The deceleration in pps^2.
00127      */
00128     virtual unsigned int GetDeceleration(void) = 0;
00129 
00130     /**
00131      * @brief  Getting the direction of rotation.
00132      * @param  None.
00133      * @retval The direction of rotation.
00134      */
00135     virtual direction_t GetDirection(void) = 0;
00136 
00137    /**
00138      * @brief  Setting a parameter.
00139      * @param  parameter The parameter's identifier (or its register address).
00140      * @param  value The parameter's value.
00141      * @retval None.
00142      */
00143     virtual void SetParameter(unsigned int parameter, float value) = 0;
00144 
00145     /**
00146      * @brief  Setting the current position to be the home position.
00147      * @param  None.
00148      * @retval None.
00149      */
00150     virtual void SetHome(void) = 0;
00151 
00152     /**
00153      * @brief  Setting the current position to be the marked position.
00154      * @param  None.
00155      * @retval None.
00156      */
00157     virtual void SetMark(void) = 0;
00158 
00159     /**
00160      * @brief  Setting the maximum speed in pps.
00161      * @param  speed The maximum speed in pps.
00162      * @retval None.
00163      */
00164     virtual void SetMaxSpeed(unsigned int speed) = 0;
00165 
00166     /**
00167      * @brief  Setting the minimum speed in pps.
00168      * @param  speed The minimum speed in pps.
00169      * @retval None.
00170      */
00171     virtual void SetMinSpeed(unsigned int speed) = 0;
00172 
00173     /**
00174      * @brief  Setting the acceleration in pps^2.
00175      * @param  acceleration The acceleration in pps^2.
00176      * @retval None.
00177      */
00178     virtual void SetAcceleration(unsigned int acceleration) = 0;
00179 
00180     /**
00181      * @brief  Setting the deceleration in pps^2.
00182      * @param  deceleration The deceleration in pps^2.
00183      * @retval None.
00184      */
00185     virtual void SetDeceleration(unsigned int deceleration) = 0;
00186 
00187     /**
00188      * @brief  Going to a specified position.
00189      * @param  position The desired position.
00190      * @retval None.
00191      */
00192     virtual void GoTo(signed int position) = 0;
00193 
00194     /**
00195      * @brief  Going to the home position.
00196      * @param  None.
00197      * @retval None.
00198      */
00199     virtual void GoHome(void) = 0;
00200 
00201     /**
00202      * @brief  Going to the marked position.
00203      * @param  None.
00204      * @retval None.
00205      */
00206     virtual void GoMark(void) = 0;
00207 
00208     /**
00209      * @brief  Running the motor towards a specified direction.
00210      * @param  direction The direction of rotation.
00211      * @retval None.
00212      */
00213     virtual void Run(direction_t direction) = 0;
00214 
00215     /**
00216      * @brief  Moving the motor towards a specified direction for a certain number of steps.
00217      * @param  direction The direction of rotation.
00218      * @param  steps The desired number of steps.
00219      * @retval None.
00220      */
00221     virtual void Move(direction_t direction, unsigned int steps) = 0;
00222 
00223     /**
00224      * @brief  Stopping the motor through an immediate deceleration up to zero speed.
00225      * @param  None.
00226      * @retval None.
00227      */
00228     virtual void SoftStop(void) = 0;
00229 
00230     /**
00231      * @brief  Stopping the motor through an immediate infinite deceleration.
00232      * @param  None.
00233      * @retval None.
00234      */
00235     virtual void HardStop(void) = 0;
00236 
00237     /**
00238      * @brief  Disabling the power bridge after performing a deceleration to zero.
00239      * @param  None.
00240      * @retval None.
00241      */
00242     virtual void SoftHiZ(void) = 0;
00243 
00244     /**
00245      * @brief  Disabling the power bridge immediately.
00246      * @param  None.
00247      * @retval None.
00248      */
00249     virtual void HardHiZ(void) = 0;
00250 
00251     /**
00252      * @brief  Waiting while the motor is active.
00253      * @param  None.
00254      * @retval None.
00255      */
00256     virtual void WaitWhileActive(void) = 0;
00257 };
00258 
00259 #endif /* __STEPPERMOTOR_CLASS_H */
00260 
00261 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/