Diff: Stepper.h

Revision:

0:5af6295f4ec9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.h	Thu Dec 16 01:19:17 2021 +0000
@@ -0,0 +1,81 @@
+#ifndef STEPPER_H
+#define STEPPER_H
+
+#include "mbed.h"
+
+class Stepper : public TimerEvent
+{
+public:
+    // Create Stepper instance connected to pins step, direction, and enable
+    Stepper(PinName step, PinName dir, PinName en);
+    
+    // Set origin for motor absolute movement
+    void setPositionZero(void);
+    // Set limit for motor absolute movement
+    void setPositionLimit(void);
+    // Get limit of motor absolute movement
+    int getPositionLimit(void);
+    
+    // Stop motor
+    void stop(void);
+    // Move motor to absolute position
+    void goTo(int position);
+    // Move motor a set number of steps
+    void move(int steps);
+    
+    // Set rotation speed [steps/sec]
+    void setSpeed(float speed);
+    // Set acceleration ramp [steps/sec²] (0 = infinite acceleration)
+    void setAcceleration(float acc);
+    // Set deceleration ramp [steps/sec²] (0 = infinite deceleration)
+    void setDeceleration(float dec);
+
+    // Enable motor driver
+    void enable(void);
+    // Disable motor driver
+    void disable(void);
+    // Check if motor driver is enabled
+    bool enabled(void);
+    // Check if motor is stopped
+    bool stopped(void);
+    // Get absolute position from origin
+    int getPosition(void);
+    // Get speed [steps/sec]
+    float getSpeed(void);
+    // Get acceperation [steps/sec²]
+    float getAcceleration(void);
+    // Get deceleration [steps/sec²]
+    float getDeceleration(void);
+    
+    // Enum for direction
+    typedef enum {CW=1,CCW=0} direction;
+    
+protected:
+    unsigned int nTo(float speed,float acc);
+    
+ private:
+    DigitalOut _step;                       // output step pin 
+    DigitalOut _dir;                        // output direction pin
+    DigitalOut _en;                         // output enable pin 
+    
+    virtual void handler();
+    enum {STOP,ACCEL,CRUISE,DECEL}_state;   // motor state
+    
+    int _pos;                               // motor position
+    int _lim;                               // motor limit
+    float _spd;                             // speed [step/s]
+    float _acc;                             // acceleration [step/s²]
+    float _dec;                             // decceleration [step/s²]
+    
+    unsigned int _steps;                    // nbr total of steps per mov
+    
+    unsigned int _dt0;                      // initial delay [µs]
+    unsigned int _dtmin;                    // delay minimum [µs]
+    unsigned int _dtn;                      // current delay
+    
+    unsigned int _n;                        // steps counters
+    unsigned int _nStartDec;                // steps to decelerate
+    
+};
+ 
+#endif
\ No newline at end of file