Diff: Async_4pin_Stepper.h

Revision:

1:359b46cdaf19

Parent:

0:252d645cfc5d

--- a/Async_4pin_Stepper.h	Thu Jun 03 21:38:34 2021 +0000
+++ b/Async_4pin_Stepper.h	Sat Jun 05 23:06:24 2021 +0000
@@ -1,68 +1,122 @@
+/**
+ * @file Async_4pin_Stepper.h
+ * @author Simon Krogedal <simon.krogedal@student.manchester.ac.uk>
+ * @version 0.1
+ */
+
 #ifndef ASYNC_4PIN_STEPPER_H
 #define ASYNC_4PIN_STEPPER_H
 
-/* Asynchronous Stepper with 4-pin output
+#include "mbed.h"
+
+/** Asynchronous Stepper with 4-pin half step output class.
  *
- * 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;
+        Ticker ticker;          /// Ticker object
+        BusOut output;          /// Collection of output pins
         
-        int     currentPos;
-        int     targetPos;
-        int     speed_;
-        double  stepInterval;
-        double  SPR;
-        bool    running;
+        int     currentPos;     /// Current position of stepper
+        int     targetPos;      /// Target position of stepper
+        int     speed_;         /// Set speed for stepper movement
+        double  stepInterval;   /// Step interval for movement at desired speed
+        double  SPR;            /// Steps per revolution
+        bool    running;        /// Boolean flag indicating whether the motor is running
         
-        void    step(int step); // Do a single step, called by step once funcs
-        void    stepCB();       // Callback function for stepper
+        /** Do a single step, called by stepOnce functions
+         * @param step The desired step
+         */
+        void    step(int step); /// Do a single step, called by step once funcs
+        void    stepCB();       /// Callback function for stepper, called intermittedly to do a step towards the current target
         
     protected:
         
-        void stepOnceCW();      // Single step CW
-        void stepOnceCCW();     // Single step CCW
+        void stepOnceCW();      /// Single step CW
+        void stepOnceCCW();     /// Single step CCW
         
     public:
     
         typedef enum  {
-            CW,         // Clockwise
-            CCW         // Counter-clockwise
+            CW,         /// Clockwise
+            CCW         /// Counter-clockwise
         } Dir;
     
-        // Constructor takes 4 pins and a steps/rev in float presicion
+        /** Constructor takes 4 pins and a steps/rev in float presicion
+         *
+         * @param StepperPin1 Pin 1 on stepper motor
+         * @param StepperPin2 Pin 2 on stepper motor
+         * @param StepperPin3 Pin 3 on stepper motor
+         * @param StepperPin4 Pin 4 on stepper motor
+         * @param StepsPerRev Steps per revolution. Defaults to 4075.8, for 28BYJ-48
+         */
         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?
+        /// Set current position as 0
+        void setZeroPos();
+        
+        /** Set target
+         * @param target Target step, can be positive or negative
+         */
+        void setTarget(int target);
+        
+        /// Move towards given target
+        void goToTarget();
+        
+        // Run at a given speed in step/s
+//        void run(float speed, Dir dir);   
+
+        /** Set speed
+         * @param speed Speed in steps/seconds
+         */
+        void setSpeed(int speed);               
+        
+        /** Get speed
+         * @returns Speed in steps/seconds
+         */
+        int getSpeed();
+        
+        /** Get position
+         * @returns Stepper position
+         */
+        int getPos();
+        
+        /** Get target position
+         * @returns Target step position
+         */
+        int getTarget();
+        
+        /** Get distance left to target
+         * @returns Number of steps away from target
+         */
+        int distanceToGo();
+        
+        /** Check if motor is running
+         * @returns
+         *   0 Motor is not running (ticker is not attached)
+         *   1 Motor is running (ticker is attached)
+         */
+        bool isRunning();
+        
+        /// Close all gates, reducing current but losing holding torque
+        void relax();
+        
+        /// Stop the motor and detach ticker
         void stop();
 
 };