Simon Krogedal / Async_4pin_Stepper

Library to run 4-wire half stepper in asynchronous mode

Dependents:   Lift_arm_control

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

Committer:
krogedal
Date:
Thu Jun 03 21:38:34 2021 +0000
Revision:
0:252d645cfc5d
Child:
1:359b46cdaf19
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krogedal 0:252d645cfc5d 1 #ifndef ASYNC_4PIN_STEPPER_H
krogedal 0:252d645cfc5d 2 #define ASYNC_4PIN_STEPPER_H
krogedal 0:252d645cfc5d 3
krogedal 0:252d645cfc5d 4 /* Asynchronous Stepper with 4-pin output
krogedal 0:252d645cfc5d 5 *
krogedal 0:252d645cfc5d 6 * Written by Simon Krogedal
krogedal 0:252d645cfc5d 7 * 31/05/2021
krogedal 0:252d645cfc5d 8 * Team 9 4th Year project
krogedal 0:252d645cfc5d 9 *
krogedal 0:252d645cfc5d 10 * for NUCLEO-F401RE
krogedal 0:252d645cfc5d 11 *
krogedal 0:252d645cfc5d 12 * Version 0.1
krogedal 0:252d645cfc5d 13 *
krogedal 0:252d645cfc5d 14 */
krogedal 0:252d645cfc5d 15
krogedal 0:252d645cfc5d 16 #include "mbed.h"
krogedal 0:252d645cfc5d 17
krogedal 0:252d645cfc5d 18 class Async_4pin_Stepper {
krogedal 0:252d645cfc5d 19
krogedal 0:252d645cfc5d 20 private:
krogedal 0:252d645cfc5d 21
krogedal 0:252d645cfc5d 22 Ticker ticker;
krogedal 0:252d645cfc5d 23 BusOut output;
krogedal 0:252d645cfc5d 24
krogedal 0:252d645cfc5d 25 int currentPos;
krogedal 0:252d645cfc5d 26 int targetPos;
krogedal 0:252d645cfc5d 27 int speed_;
krogedal 0:252d645cfc5d 28 double stepInterval;
krogedal 0:252d645cfc5d 29 double SPR;
krogedal 0:252d645cfc5d 30 bool running;
krogedal 0:252d645cfc5d 31
krogedal 0:252d645cfc5d 32 void step(int step); // Do a single step, called by step once funcs
krogedal 0:252d645cfc5d 33 void stepCB(); // Callback function for stepper
krogedal 0:252d645cfc5d 34
krogedal 0:252d645cfc5d 35 protected:
krogedal 0:252d645cfc5d 36
krogedal 0:252d645cfc5d 37 void stepOnceCW(); // Single step CW
krogedal 0:252d645cfc5d 38 void stepOnceCCW(); // Single step CCW
krogedal 0:252d645cfc5d 39
krogedal 0:252d645cfc5d 40 public:
krogedal 0:252d645cfc5d 41
krogedal 0:252d645cfc5d 42 typedef enum {
krogedal 0:252d645cfc5d 43 CW, // Clockwise
krogedal 0:252d645cfc5d 44 CCW // Counter-clockwise
krogedal 0:252d645cfc5d 45 } Dir;
krogedal 0:252d645cfc5d 46
krogedal 0:252d645cfc5d 47 // Constructor takes 4 pins and a steps/rev in float presicion
krogedal 0:252d645cfc5d 48 Async_4pin_Stepper( PinName StepperPin1,
krogedal 0:252d645cfc5d 49 PinName StepperPin2,
krogedal 0:252d645cfc5d 50 PinName StepperPin3,
krogedal 0:252d645cfc5d 51 PinName StepperPin4,
krogedal 0:252d645cfc5d 52 float StepsPerRev = 4075.7728);
krogedal 0:252d645cfc5d 53
krogedal 0:252d645cfc5d 54
krogedal 0:252d645cfc5d 55 void setZeroPos(); // Set current position as 0
krogedal 0:252d645cfc5d 56 void setTarget(int target); // set target
krogedal 0:252d645cfc5d 57 void goToTarget(); // Move towards given target
krogedal 0:252d645cfc5d 58 // void run(float speed, Dir dir); // Run at a given speed in step/s
krogedal 0:252d645cfc5d 59 void setSpeed(int speed); // Set speed
krogedal 0:252d645cfc5d 60 int getSpeed(); // Returns speed
krogedal 0:252d645cfc5d 61 int getPos(); // Returns current position
krogedal 0:252d645cfc5d 62 int getTarget(); // Returns target position
krogedal 0:252d645cfc5d 63 int distanceToGo(); // Returns steps left to target
krogedal 0:252d645cfc5d 64 void relax(); // Close all gates, reducing current but losing holding torque
krogedal 0:252d645cfc5d 65 bool isRunning(); // Is the motor running?
krogedal 0:252d645cfc5d 66 void stop();
krogedal 0:252d645cfc5d 67
krogedal 0:252d645cfc5d 68 };
krogedal 0:252d645cfc5d 69
krogedal 0:252d645cfc5d 70 #endif