Diff: Async_4pin_Stepper.cpp

Revision:

0:252d645cfc5d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Async_4pin_Stepper.cpp	Thu Jun 03 21:38:34 2021 +0000
@@ -0,0 +1,128 @@
+/* Asynchronous Stepper with 4-pin output
+ *
+ * Written by Simon Krogedal
+ * 31/05/2021
+ * Team 9 4th Year project
+ * 
+ * for NUCLEO-F401RE
+ * 
+ * Version 0.1
+ *
+ */
+ 
+#include "Async_4pin_Stepper.h"
+
+// Constructor takes 4 pins and a steps/rev in float presicion
+Async_4pin_Stepper::Async_4pin_Stepper( PinName StepperPin1,
+                                        PinName StepperPin2,
+                                        PinName StepperPin3,
+                                        PinName StepperPin4,
+                                        float   StepsPerRev) :
+                                        
+                                        output(StepperPin1,
+                                               StepperPin2,
+                                               StepperPin3,
+                                               StepperPin4)
+{
+    SPR = StepsPerRev;
+    setSpeed(500);
+    currentPos = 0;
+    relax();
+}
+
+void Async_4pin_Stepper::setZeroPos() {currentPos = 0;}
+
+void Async_4pin_Stepper::setSpeed(int speed) {
+    if(speed > 0) {
+        speed_ = speed;
+        stepInterval = 1.0/speed;
+    }
+    else {
+        speed_ = 0;
+        stepInterval = 0;
+    }
+}
+
+int Async_4pin_Stepper::getPos() {return currentPos;}
+int Async_4pin_Stepper::getTarget() {return targetPos;}
+int Async_4pin_Stepper::getSpeed() {return speed_;}
+int Async_4pin_Stepper::distanceToGo() {return targetPos-currentPos;}
+
+void Async_4pin_Stepper::step(int step) {
+    switch (step & 0x7) {
+        case 0:    // 1000
+            output = 0b0001;
+            break;
+            
+        case 1:    // 1010
+            output = 0b0101;
+            break;
+            
+        case 2:    // 0010
+            output = 0b0100;
+            break;
+            
+        case 3:    // 0110
+            output = 0b0110;
+            break;
+            
+        case 4:    // 0100
+            output = 0b0010;
+            break;
+            
+        case 5:    //0101
+            output = 0b1010;
+            break;
+            
+        case 6:    // 0001
+            output = 0b1000;
+            break;
+            
+        case 7:    //1001
+            output = 0b1001;
+            break;
+    }
+}
+
+void Async_4pin_Stepper::stepOnceCCW() {
+    // Update current position
+    currentPos++;
+    // Step to new position
+    step(currentPos);
+}
+
+void Async_4pin_Stepper::stepOnceCW() {
+    // Update current position
+    currentPos--;
+    // Step to new position
+    step(currentPos);
+}
+
+void Async_4pin_Stepper::setTarget(int target) {targetPos = target;}
+
+void Async_4pin_Stepper::goToTarget() {
+    // Check if at target or standstill
+    if(!distanceToGo() || !stepInterval || running)
+        return;
+    else { // Attach ticker to callback function
+        ticker.attach(callback(this, &Async_4pin_Stepper::stepCB), stepInterval);
+        running = true;
+    }
+}
+
+void Async_4pin_Stepper::stepCB() {
+    // check error value for driction
+    int error = distanceToGo();
+    if(error == 0) {
+        ticker.detach();
+        running = false;
+    }
+    else if(error > 0)
+        stepOnceCCW();
+    else
+        stepOnceCW();
+}        
+
+void Async_4pin_Stepper::relax() {output = 0;}
+bool Async_4pin_Stepper::isRunning() {return running;}
+void Async_4pin_Stepper::stop() {ticker.detach();}
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