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

Diff: Stepper.h

Revision:
1:a456aa3935ca
Parent:
0:f2a3b0be279d
--- a/Stepper.h	Mon Apr 15 11:29:15 2013 +0000
+++ b/Stepper.h	Mon Sep 22 14:18:31 2014 +0000
@@ -34,9 +34,9 @@
  * }
  * @endcode
  */
-class Stepper
+class Stepper : public TimerEvent
 {
-public:
+public: 
     /** Create Stepper instance connected to pin clk & dir
     * @param clk pin to connect at clk/step output
     * @param dir pin to connect at dir output
@@ -112,21 +112,24 @@
     typedef enum {CW=1,CCW=0} direction;
     
 protected:
-    void run(void);         //step generator thread
     unsigned int nTo(float speed,float acc);
-      
+     
 private:
-    float _acc;                         //Acceleration [step/s²]
-    float _dec;                         //Decceleration [step/s²]
-    float _spd;                         //Speed [step/s]
-    unsigned int _steps;                //nbr total of steps per mov
-    DigitalOut _clk;                    //output clock pin 
-    DigitalOut _dir;                    //output dir pin
-    Timeout _timer;                     //step timer
+    float _acc;                             //Acceleration [step/s²]
+    float _dec;                             //Decceleration [step/s²]
+    float _spd;                             //Speed [step/s]
+    unsigned int _steps;                    //nbr total of steps per mov
+    DigitalOut _clk;                        //output clock pin 
+    DigitalOut _dir;                        //output dir pin
     enum {STOP,ACCEL,CRUISE,DECEL}_state;  //Motor state
-    unsigned int _dt0;                  //initial delay [µs]
-    unsigned int _dtmin;                //delay minimum [µs]
-    int _pos;                           //motor position
+    unsigned int _dt0;                      //initial delay [µs]
+    unsigned int _dtmin;                    //delay minimum [µs]
+    unsigned int _dtn;                             //current delay
+    int _pos;                               //motor position
+    unsigned int _n;                        //steps counters
+    unsigned int _nStartDec;                //steps to decelerate
+    virtual void handler();
+
 };
 
 #endif
\ No newline at end of file