Simon Krogedal / Async_4pin_Stepper

Library to run 4-wire half stepper in asynchronous mode

Dependents:   Lift_arm_control

Async_4pin_Stepper.cpp@0:252d645cfc5d, 2021-06-03 (annotated)

Committer:
krogedal
Date:
Thu Jun 03 21:38:34 2021 +0000
Revision:
0:252d645cfc5d
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krogedal 0:252d645cfc5d 1 /* Asynchronous Stepper with 4-pin output
krogedal 0:252d645cfc5d 2 *
krogedal 0:252d645cfc5d 3 * Written by Simon Krogedal
krogedal 0:252d645cfc5d 4 * 31/05/2021
krogedal 0:252d645cfc5d 5 * Team 9 4th Year project
krogedal 0:252d645cfc5d 6 *
krogedal 0:252d645cfc5d 7 * for NUCLEO-F401RE
krogedal 0:252d645cfc5d 8 *
krogedal 0:252d645cfc5d 9 * Version 0.1
krogedal 0:252d645cfc5d 10 *
krogedal 0:252d645cfc5d 11 */
krogedal 0:252d645cfc5d 12
krogedal 0:252d645cfc5d 13 #include "Async_4pin_Stepper.h"
krogedal 0:252d645cfc5d 14
krogedal 0:252d645cfc5d 15 // Constructor takes 4 pins and a steps/rev in float presicion
krogedal 0:252d645cfc5d 16 Async_4pin_Stepper::Async_4pin_Stepper( PinName StepperPin1,
krogedal 0:252d645cfc5d 17 PinName StepperPin2,
krogedal 0:252d645cfc5d 18 PinName StepperPin3,
krogedal 0:252d645cfc5d 19 PinName StepperPin4,
krogedal 0:252d645cfc5d 20 float StepsPerRev) :
krogedal 0:252d645cfc5d 21
krogedal 0:252d645cfc5d 22 output(StepperPin1,
krogedal 0:252d645cfc5d 23 StepperPin2,
krogedal 0:252d645cfc5d 24 StepperPin3,
krogedal 0:252d645cfc5d 25 StepperPin4)
krogedal 0:252d645cfc5d 26 {
krogedal 0:252d645cfc5d 27 SPR = StepsPerRev;
krogedal 0:252d645cfc5d 28 setSpeed(500);
krogedal 0:252d645cfc5d 29 currentPos = 0;
krogedal 0:252d645cfc5d 30 relax();
krogedal 0:252d645cfc5d 31 }
krogedal 0:252d645cfc5d 32
krogedal 0:252d645cfc5d 33 void Async_4pin_Stepper::setZeroPos() {currentPos = 0;}
krogedal 0:252d645cfc5d 34
krogedal 0:252d645cfc5d 35 void Async_4pin_Stepper::setSpeed(int speed) {
krogedal 0:252d645cfc5d 36 if(speed > 0) {
krogedal 0:252d645cfc5d 37 speed_ = speed;
krogedal 0:252d645cfc5d 38 stepInterval = 1.0/speed;
krogedal 0:252d645cfc5d 39 }
krogedal 0:252d645cfc5d 40 else {
krogedal 0:252d645cfc5d 41 speed_ = 0;
krogedal 0:252d645cfc5d 42 stepInterval = 0;
krogedal 0:252d645cfc5d 43 }
krogedal 0:252d645cfc5d 44 }
krogedal 0:252d645cfc5d 45
krogedal 0:252d645cfc5d 46 int Async_4pin_Stepper::getPos() {return currentPos;}
krogedal 0:252d645cfc5d 47 int Async_4pin_Stepper::getTarget() {return targetPos;}
krogedal 0:252d645cfc5d 48 int Async_4pin_Stepper::getSpeed() {return speed_;}
krogedal 0:252d645cfc5d 49 int Async_4pin_Stepper::distanceToGo() {return targetPos-currentPos;}
krogedal 0:252d645cfc5d 50
krogedal 0:252d645cfc5d 51 void Async_4pin_Stepper::step(int step) {
krogedal 0:252d645cfc5d 52 switch (step & 0x7) {
krogedal 0:252d645cfc5d 53 case 0: // 1000
krogedal 0:252d645cfc5d 54 output = 0b0001;
krogedal 0:252d645cfc5d 55 break;
krogedal 0:252d645cfc5d 56
krogedal 0:252d645cfc5d 57 case 1: // 1010
krogedal 0:252d645cfc5d 58 output = 0b0101;
krogedal 0:252d645cfc5d 59 break;
krogedal 0:252d645cfc5d 60
krogedal 0:252d645cfc5d 61 case 2: // 0010
krogedal 0:252d645cfc5d 62 output = 0b0100;
krogedal 0:252d645cfc5d 63 break;
krogedal 0:252d645cfc5d 64
krogedal 0:252d645cfc5d 65 case 3: // 0110
krogedal 0:252d645cfc5d 66 output = 0b0110;
krogedal 0:252d645cfc5d 67 break;
krogedal 0:252d645cfc5d 68
krogedal 0:252d645cfc5d 69 case 4: // 0100
krogedal 0:252d645cfc5d 70 output = 0b0010;
krogedal 0:252d645cfc5d 71 break;
krogedal 0:252d645cfc5d 72
krogedal 0:252d645cfc5d 73 case 5: //0101
krogedal 0:252d645cfc5d 74 output = 0b1010;
krogedal 0:252d645cfc5d 75 break;
krogedal 0:252d645cfc5d 76
krogedal 0:252d645cfc5d 77 case 6: // 0001
krogedal 0:252d645cfc5d 78 output = 0b1000;
krogedal 0:252d645cfc5d 79 break;
krogedal 0:252d645cfc5d 80
krogedal 0:252d645cfc5d 81 case 7: //1001
krogedal 0:252d645cfc5d 82 output = 0b1001;
krogedal 0:252d645cfc5d 83 break;
krogedal 0:252d645cfc5d 84 }
krogedal 0:252d645cfc5d 85 }
krogedal 0:252d645cfc5d 86
krogedal 0:252d645cfc5d 87 void Async_4pin_Stepper::stepOnceCCW() {
krogedal 0:252d645cfc5d 88 // Update current position
krogedal 0:252d645cfc5d 89 currentPos++;
krogedal 0:252d645cfc5d 90 // Step to new position
krogedal 0:252d645cfc5d 91 step(currentPos);
krogedal 0:252d645cfc5d 92 }
krogedal 0:252d645cfc5d 93
krogedal 0:252d645cfc5d 94 void Async_4pin_Stepper::stepOnceCW() {
krogedal 0:252d645cfc5d 95 // Update current position
krogedal 0:252d645cfc5d 96 currentPos--;
krogedal 0:252d645cfc5d 97 // Step to new position
krogedal 0:252d645cfc5d 98 step(currentPos);
krogedal 0:252d645cfc5d 99 }
krogedal 0:252d645cfc5d 100
krogedal 0:252d645cfc5d 101 void Async_4pin_Stepper::setTarget(int target) {targetPos = target;}
krogedal 0:252d645cfc5d 102
krogedal 0:252d645cfc5d 103 void Async_4pin_Stepper::goToTarget() {
krogedal 0:252d645cfc5d 104 // Check if at target or standstill
krogedal 0:252d645cfc5d 105 if(!distanceToGo() || !stepInterval || running)
krogedal 0:252d645cfc5d 106 return;
krogedal 0:252d645cfc5d 107 else { // Attach ticker to callback function
krogedal 0:252d645cfc5d 108 ticker.attach(callback(this, &Async_4pin_Stepper::stepCB), stepInterval);
krogedal 0:252d645cfc5d 109 running = true;
krogedal 0:252d645cfc5d 110 }
krogedal 0:252d645cfc5d 111 }
krogedal 0:252d645cfc5d 112
krogedal 0:252d645cfc5d 113 void Async_4pin_Stepper::stepCB() {
krogedal 0:252d645cfc5d 114 // check error value for driction
krogedal 0:252d645cfc5d 115 int error = distanceToGo();
krogedal 0:252d645cfc5d 116 if(error == 0) {
krogedal 0:252d645cfc5d 117 ticker.detach();
krogedal 0:252d645cfc5d 118 running = false;
krogedal 0:252d645cfc5d 119 }
krogedal 0:252d645cfc5d 120 else if(error > 0)
krogedal 0:252d645cfc5d 121 stepOnceCCW();
krogedal 0:252d645cfc5d 122 else
krogedal 0:252d645cfc5d 123 stepOnceCW();
krogedal 0:252d645cfc5d 124 }
krogedal 0:252d645cfc5d 125
krogedal 0:252d645cfc5d 126 void Async_4pin_Stepper::relax() {output = 0;}
krogedal 0:252d645cfc5d 127 bool Async_4pin_Stepper::isRunning() {return running;}
krogedal 0:252d645cfc5d 128 void Async_4pin_Stepper::stop() {ticker.detach();}