Diff: Async_4pin_Stepper.h

Revision:

0:252d645cfc5d

Child:

1:359b46cdaf19

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Async_4pin_Stepper.h	Thu Jun 03 21:38:34 2021 +0000
@@ -0,0 +1,70 @@
+#ifndef ASYNC_4PIN_STEPPER_H
+#define ASYNC_4PIN_STEPPER_H
+
+/* 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 "mbed.h"
+
+class Async_4pin_Stepper {
+    
+    private:
+    
+        Ticker ticker;
+        BusOut output;
+        
+        int     currentPos;
+        int     targetPos;
+        int     speed_;
+        double  stepInterval;
+        double  SPR;
+        bool    running;
+        
+        void    step(int step); // Do a single step, called by step once funcs
+        void    stepCB();       // Callback function for stepper
+        
+    protected:
+        
+        void stepOnceCW();      // Single step CW
+        void stepOnceCCW();     // Single step CCW
+        
+    public:
+    
+        typedef enum  {
+            CW,         // Clockwise
+            CCW         // Counter-clockwise
+        } Dir;
+    
+        // Constructor takes 4 pins and a steps/rev in float presicion
+        Async_4pin_Stepper( PinName StepperPin1,
+                            PinName StepperPin2,
+                            PinName StepperPin3,
+                            PinName StepperPin4,
+                            float   StepsPerRev = 4075.7728);
+                            
+                            
+        void setZeroPos();                      // Set current position as 0
+        void setTarget(int target);             // set target
+        void goToTarget();                      // Move towards given target
+//        void run(float speed, Dir dir);   // Run at a given speed in step/s
+        void setSpeed(int speed);               // Set speed
+        int getSpeed();                         // Returns speed
+        int getPos();                           // Returns current position
+        int getTarget();                        // Returns target position
+        int distanceToGo();                     // Returns steps left to target
+        void relax();                           // Close all gates, reducing current but losing holding torque
+        bool isRunning();                       // Is the motor running?
+        void stop();
+
+};
+
+#endif
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