Mederic Melard / Stepper

For driving stepper motor driver with traditional (step/dir) control pins Based on "Generate stepper-motor speed profiles in real time" from "David AUSTIN - December 30, 2004"

Dependents:   VAM_reliability VAM_REV2 VAM_DAX VAM_DAX_RELIABILITY ... more

Fork of Stepper by Mederic Melard

Stepper.h@1:a456aa3935ca, 2014-09-22 (annotated)

Committer:
mederic
Date:
Mon Sep 22 14:18:31 2014 +0000
Revision:
1:a456aa3935ca
Parent:
0:f2a3b0be279d 
Correct Bug of 1st version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mederic 0:f2a3b0be279d 1 #ifndef STEPPER_H
mederic 0:f2a3b0be279d 2 #define STEPPER_H
mederic 0:f2a3b0be279d 3
mederic 0:f2a3b0be279d 4 #include "mbed.h"
mederic 0:f2a3b0be279d 5 /** Stepper class.
mederic 0:f2a3b0be279d 6 * Used for drive Stepper motor
mederic 0:f2a3b0be279d 7 *
mederic 0:f2a3b0be279d 8 * Example:
mederic 0:f2a3b0be279d 9 * @code
mederic 0:f2a3b0be279d 10 * #include "mbed.h"
mederic 0:f2a3b0be279d 11 * #include "Stepper.h"
mederic 0:f2a3b0be279d 12 *
mederic 0:f2a3b0be279d 13 * DigitalIn home(p20);
mederic 0:f2a3b0be279d 14 * Stepper mot(p21,p22);
mederic 0:f2a3b0be279d 15 *
mederic 0:f2a3b0be279d 16 * int main()
mederic 0:f2a3b0be279d 17 * {
mederic 0:f2a3b0be279d 18 * mot.setSpeed(1200);
mederic 0:f2a3b0be279d 19 * mot.setAcceleration(4000);
mederic 0:f2a3b0be279d 20 * mot.setDeceleration(4000);
mederic 0:f2a3b0be279d 21 *
mederic 0:f2a3b0be279d 22 * mot.rotate(CW);
mederic 0:f2a3b0be279d 23 * while(!home);
mederic 0:f2a3b0be279d 24 * mot.stop();
mederic 0:f2a3b0be279d 25 * mot.setPositionZero();
mederic 0:f2a3b0be279d 26 *
mederic 0:f2a3b0be279d 27 * mot.goesTo(1600);
mederic 0:f2a3b0be279d 28 * while(!mot.stopped());
mederic 0:f2a3b0be279d 29 *
mederic 0:f2a3b0be279d 30 * while(1)
mederic 0:f2a3b0be279d 31 * {
mederic 0:f2a3b0be279d 32 *
mederic 0:f2a3b0be279d 33 * }
mederic 0:f2a3b0be279d 34 * }
mederic 0:f2a3b0be279d 35 * @endcode
mederic 0:f2a3b0be279d 36 */
mederic 1:a456aa3935ca 37 class Stepper : public TimerEvent
mederic 0:f2a3b0be279d 38 {
mederic 1:a456aa3935ca 39 public:
mederic 0:f2a3b0be279d 40 /** Create Stepper instance connected to pin clk & dir
mederic 0:f2a3b0be279d 41 * @param clk pin to connect at clk/step output
mederic 0:f2a3b0be279d 42 * @param dir pin to connect at dir output
mederic 0:f2a3b0be279d 43 */
mederic 0:f2a3b0be279d 44 Stepper(PinName clk, PinName dir);
mederic 0:f2a3b0be279d 45
mederic 0:f2a3b0be279d 46 /** Moving the motor relative to a reference position (set by setPositionZero())
mederic 0:f2a3b0be279d 47 * @param position steps from position zero
mederic 0:f2a3b0be279d 48 */
mederic 0:f2a3b0be279d 49 void goesTo(int position);
mederic 0:f2a3b0be279d 50
mederic 0:f2a3b0be279d 51 /** Moving the motor for given steps
mederic 0:f2a3b0be279d 52 * @param steps number of steps to go(>0 CW ; <0 CCW)
mederic 0:f2a3b0be279d 53 */
mederic 0:f2a3b0be279d 54 void move(int steps);
mederic 0:f2a3b0be279d 55
mederic 0:f2a3b0be279d 56 /** Moving the motor until user stop
mederic 0:f2a3b0be279d 57 * @param direction rotation Stepper::CC or Stepper::CCW
mederic 0:f2a3b0be279d 58 */
mederic 0:f2a3b0be279d 59 void rotate(bool direction);
mederic 0:f2a3b0be279d 60
mederic 0:f2a3b0be279d 61 /** Stop the motor as fast as possible
mederic 0:f2a3b0be279d 62 */
mederic 0:f2a3b0be279d 63 void stop(void);
mederic 0:f2a3b0be279d 64
mederic 0:f2a3b0be279d 65 /**Set Rotation Speed
mederic 0:f2a3b0be279d 66 * @param speed [steps/sec]
mederic 0:f2a3b0be279d 67 */
mederic 0:f2a3b0be279d 68 void setSpeed(float speed);
mederic 0:f2a3b0be279d 69
mederic 0:f2a3b0be279d 70 /**Set Acceleration ramp
mederic 0:f2a3b0be279d 71 * @param acc acceleration [steps/sec²] (0 = infinite acceleration 1st step @ max speed)
mederic 0:f2a3b0be279d 72 */
mederic 0:f2a3b0be279d 73 void setAcceleration(float acc);
mederic 0:f2a3b0be279d 74
mederic 0:f2a3b0be279d 75 /**Set Deceleration ramp
mederic 0:f2a3b0be279d 76 * @param dec deceleration [steps/sec²] (0 = infinite deceleration last step @ max speed)
mederic 0:f2a3b0be279d 77 */
mederic 0:f2a3b0be279d 78 void setDeceleration(float dec);
mederic 0:f2a3b0be279d 79
mederic 0:f2a3b0be279d 80 /**Give Origin for motor absolute movement
mederic 0:f2a3b0be279d 81 */
mederic 0:f2a3b0be279d 82 void setPositionZero(void);
mederic 0:f2a3b0be279d 83
mederic 0:f2a3b0be279d 84 /**Check if motor is stopped
mederic 0:f2a3b0be279d 85 * @returns true if motor stopped
mederic 0:f2a3b0be279d 86 */
mederic 0:f2a3b0be279d 87 bool stopped(void);
mederic 0:f2a3b0be279d 88
mederic 0:f2a3b0be279d 89 /**Get absolute position from origin
mederic 0:f2a3b0be279d 90 * @returns position [steps] from origin set by setPositionZero()
mederic 0:f2a3b0be279d 91 */
mederic 0:f2a3b0be279d 92 int getPosition(void);
mederic 0:f2a3b0be279d 93
mederic 0:f2a3b0be279d 94 /**Get Acceleration
mederic 0:f2a3b0be279d 95 * @returns acceleration [steps/sec²]
mederic 0:f2a3b0be279d 96 */
mederic 0:f2a3b0be279d 97 float getAcceleration(void);
mederic 0:f2a3b0be279d 98
mederic 0:f2a3b0be279d 99 /**Get Deceleration
mederic 0:f2a3b0be279d 100 * @returns deceleration [steps/sec²]
mederic 0:f2a3b0be279d 101 */
mederic 0:f2a3b0be279d 102 float getDeceleration(void);
mederic 0:f2a3b0be279d 103
mederic 0:f2a3b0be279d 104 /**Get Speed
mederic 0:f2a3b0be279d 105 * @returns speed [steps/sec]
mederic 0:f2a3b0be279d 106 */
mederic 0:f2a3b0be279d 107 float getSpeed(void);
mederic 0:f2a3b0be279d 108
mederic 0:f2a3b0be279d 109 /**Enum for direction
mederic 0:f2a3b0be279d 110 * CW=true or 1; CCW=false or 0
mederic 0:f2a3b0be279d 111 */
mederic 0:f2a3b0be279d 112 typedef enum {CW=1,CCW=0} direction;
mederic 0:f2a3b0be279d 113
mederic 0:f2a3b0be279d 114 protected:
mederic 0:f2a3b0be279d 115 unsigned int nTo(float speed,float acc);
mederic 1:a456aa3935ca 116
mederic 0:f2a3b0be279d 117 private:
mederic 1:a456aa3935ca 118 float _acc; //Acceleration [step/s²]
mederic 1:a456aa3935ca 119 float _dec; //Decceleration [step/s²]
mederic 1:a456aa3935ca 120 float _spd; //Speed [step/s]
mederic 1:a456aa3935ca 121 unsigned int _steps; //nbr total of steps per mov
mederic 1:a456aa3935ca 122 DigitalOut _clk; //output clock pin
mederic 1:a456aa3935ca 123 DigitalOut _dir; //output dir pin
mederic 0:f2a3b0be279d 124 enum {STOP,ACCEL,CRUISE,DECEL}_state; //Motor state
mederic 1:a456aa3935ca 125 unsigned int _dt0; //initial delay [µs]
mederic 1:a456aa3935ca 126 unsigned int _dtmin; //delay minimum [µs]
mederic 1:a456aa3935ca 127 unsigned int _dtn; //current delay
mederic 1:a456aa3935ca 128 int _pos; //motor position
mederic 1:a456aa3935ca 129 unsigned int _n; //steps counters
mederic 1:a456aa3935ca 130 unsigned int _nStartDec; //steps to decelerate
mederic 1:a456aa3935ca 131 virtual void handler();
mederic 1:a456aa3935ca 132
mederic 0:f2a3b0be279d 133 };
mederic 0:f2a3b0be279d 134
mederic 0:f2a3b0be279d 135 #endif