Stepper.h

00001 #ifndef STEPPER_H
00002 #define STEPPER_H
00003 
00004 #include "mbed.h"
00005 /** Stepper class.
00006  *  Used for drive Stepper motor
00007  *
00008  * Example:
00009  * @code
00010  * #include "mbed.h"
00011  * #include "Stepper.h"
00012  *
00013  * DigitalIn home(p20);
00014  * Stepper mot(p21,p22);
00015  *
00016  * int main()
00017  * {
00018  *    mot.setSpeed(1200);
00019  *    mot.setAcceleration(4000);
00020  *    mot.setDeceleration(4000);
00021  *
00022  *    mot.rotate(CW);
00023  *    while(!home);
00024  *    mot.stop();
00025  *    mot.setPositionZero();
00026  *
00027  *    mot.goesTo(1600);
00028  *    while(!mot.stopped());
00029  *
00030  *    while(1)
00031  *    {
00032  *
00033  *    }
00034  * }
00035  * @endcode
00036  */
00037 class Stepper
00038 {
00039 public:
00040     /** Create Stepper instance connected to pin clk & dir
00041     * @param clk pin to connect at clk/step output
00042     * @param dir pin to connect at dir output
00043     */
00044     Stepper(PinName clk, PinName dir);
00045     
00046     /** Moving the motor relative to a reference position (set by setPositionZero())
00047     * @param position steps from position zero 
00048     */
00049     void goesTo(int position); 
00050     
00051     /** Moving the motor for given steps
00052     * @param steps number of steps to go(>0 CW ; <0 CCW)
00053     */
00054     void move(int steps);
00055     
00056     /** Moving the motor until user stop
00057     * @param direction rotation Stepper::CC or Stepper::CCW
00058     */
00059     void rotate(bool direction);
00060     
00061     /** Stop the motor as fast as possible
00062     */
00063     void stop(void);
00064     
00065     /**Set Rotation Speed
00066     * @param speed [steps/sec]
00067     */
00068     void setSpeed(float speed);
00069     
00070     /**Set Acceleration ramp
00071     * @param acc acceleration [steps/sec²] (0 = infinite acceleration 1st step @ max speed)
00072     */
00073     void setAcceleration(float acc);
00074     
00075     /**Set Deceleration ramp
00076     * @param dec deceleration [steps/sec²] (0 = infinite deceleration last step @ max speed)
00077     */
00078     void setDeceleration(float dec);
00079     
00080     /**Give Origin for motor absolute movement
00081     */
00082     void setPositionZero(void);
00083     
00084     /**Check if motor is stopped
00085     * @returns true if motor stopped
00086     */  
00087     bool stopped(void);
00088     
00089     /**Get absolute position from origin
00090     * @returns position [steps] from origin set by setPositionZero()
00091     */
00092     int getPosition(void);
00093     
00094     /**Get Acceleration
00095     * @returns acceleration [steps/sec²]
00096     */
00097     float getAcceleration(void);
00098     
00099     /**Get Deceleration
00100     * @returns deceleration [steps/sec²]
00101     */
00102     float getDeceleration(void);
00103     
00104     /**Get Speed
00105     * @returns speed [steps/sec]
00106     */
00107     float getSpeed(void);
00108     
00109     /**Enum for direction
00110     *   CW=true or 1; CCW=false or 0
00111     */
00112     typedef enum {CW=1,CCW=0} direction;
00113     
00114 protected:
00115     void run(void);         //step generator thread
00116     unsigned int nTo(float speed,float acc);
00117       
00118 private:
00119     float _acc;                         //Acceleration [step/s²]
00120     float _dec;                         //Decceleration [step/s²]
00121     float _spd;                         //Speed [step/s]
00122     unsigned int _steps;                //nbr total of steps per mov
00123     DigitalOut _clk;                    //output clock pin 
00124     DigitalOut _dir;                    //output dir pin
00125     Timeout _timer;                     //step timer
00126     enum {STOP,ACCEL,CRUISE,DECEL}_state;  //Motor state
00127     unsigned int _dt0;                  //initial delay [µs]
00128     unsigned int _dtmin;                //delay minimum [µs]
00129     int _pos;                           //motor position
00130 };
00131 
00132 #endif