StepperMotor - Stepper motor control class library

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Tedd OKANO / StepperMotor

Stepper motor control class library

Dependents: StepperMotor_HelloWorld

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Components / Stepper motor (bipolar)

A bipolar stepper motor driving pulse generator

Components / Stepper motor (unipolar)

A unipolar stepper motor driving pulse generator

StepperMotor.h@0:4beb37ae37ce, 2010-11-25 (annotated)

Committer:: okano
Date:: Thu Nov 25 11:11:51 2010 +0000
Revision:: 0:4beb37ae37ce
Child:: 1:dc6cf8f8bcb7

Who changed what in which revision?

User	Revision	Line number	New contents of line
okano	0:4beb37ae37ce	1	/** Stepper Motor control library
okano	0:4beb37ae37ce	2	*
okano	0:4beb37ae37ce	3	* Copyright: 2010 Tedd OKANO, Tsukimidai Communications Syndicate - Crawl Design
okano	0:4beb37ae37ce	4	* The library that controls stepper motor via motor driver chip: TA7774
okano	0:4beb37ae37ce	5	* The TA7774 is a driver for a bipolar stepper motor.
okano	0:4beb37ae37ce	6	* With this library, mbed will generate 2 phase pulses to operate the motor.
okano	0:4beb37ae37ce	7	*/
okano	0:4beb37ae37ce	8
okano	0:4beb37ae37ce	9	#ifndef MBED_STEPPERMOTOR
okano	0:4beb37ae37ce	10	#define MBED_STEPPERMOTOR
okano	0:4beb37ae37ce	11
okano	0:4beb37ae37ce	12	#include "mbed.h"
okano	0:4beb37ae37ce	13
okano	0:4beb37ae37ce	14	#define MAX_PPS 50 // pulse per second
okano	0:4beb37ae37ce	15
okano	0:4beb37ae37ce	16	/** Stepper Motor control class
okano	0:4beb37ae37ce	17	*
okano	0:4beb37ae37ce	18	* Example:
okano	0:4beb37ae37ce	19	* @code
okano	0:4beb37ae37ce	20	* #include "mbed.h"
okano	0:4beb37ae37ce	21	* #include "StepperMotor.h"
okano	0:4beb37ae37ce	22	*
okano	0:4beb37ae37ce	23	* StepperMotor m( p21, p22, p23, p24 );
okano	0:4beb37ae37ce	24	*
okano	0:4beb37ae37ce	25	* int main() {
okano	0:4beb37ae37ce	26	* m.set_sync_mode( StepperMotor::SYNCHRONOUS );
okano	0:4beb37ae37ce	27	* m.set_power_ctrl( true );
okano	0:4beb37ae37ce	28	*
okano	0:4beb37ae37ce	29	* while( 1 ) {
okano	0:4beb37ae37ce	30	* m.go_angle( 120 );
okano	0:4beb37ae37ce	31	* wait( 0.5 );
okano	0:4beb37ae37ce	32	*
okano	0:4beb37ae37ce	33	* m.go_angle( 240 );
okano	0:4beb37ae37ce	34	* wait( 0.5 );
okano	0:4beb37ae37ce	35	*
okano	0:4beb37ae37ce	36	* m.go_angle( 0 );
okano	0:4beb37ae37ce	37	* wait( 0.5 );
okano	0:4beb37ae37ce	38	*
okano	0:4beb37ae37ce	39	* m.go_angle( 240 );
okano	0:4beb37ae37ce	40	* wait( 0.5 );
okano	0:4beb37ae37ce	41	*
okano	0:4beb37ae37ce	42	* m.go_angle( 120 );
okano	0:4beb37ae37ce	43	* wait( 0.5 );
okano	0:4beb37ae37ce	44	*
okano	0:4beb37ae37ce	45	* m.go_angle( 0 );
okano	0:4beb37ae37ce	46	* wait( 0.5 );
okano	0:4beb37ae37ce	47	* }
okano	0:4beb37ae37ce	48	* }
okano	0:4beb37ae37ce	49	* @endcode
okano	0:4beb37ae37ce	50	*/
okano	0:4beb37ae37ce	51
okano	0:4beb37ae37ce	52	class StepperMotor {
okano	0:4beb37ae37ce	53	public:
okano	0:4beb37ae37ce	54
okano	0:4beb37ae37ce	55	/** Constants for motor rotate mode */
okano	0:4beb37ae37ce	56	typedef enum {
okano	0:4beb37ae37ce	57	SHORTEST, /*< turn by shortest direction /
okano	0:4beb37ae37ce	58	NO_WRAPAROUND, /*< do not accross home position /
okano	0:4beb37ae37ce	59	CLOCKWISE_ONLY, /*< one-way: clockwise turn /
okano	0:4beb37ae37ce	60	COUNTER_CLOCKWISE_ONLY /*< one-way: counter clockwise turn /
okano	0:4beb37ae37ce	61	} RotMode;
okano	0:4beb37ae37ce	62
okano	0:4beb37ae37ce	63	/** Constants for syncronization mode */
okano	0:4beb37ae37ce	64	typedef enum {
okano	0:4beb37ae37ce	65	ASYNCHRONOUS, /*< program does wait motor turn completion /
okano	0:4beb37ae37ce	66	SYNCHRONOUS /*< program doesn't wait motor turn completion /
okano	0:4beb37ae37ce	67	} SyncMode;
okano	0:4beb37ae37ce	68
okano	0:4beb37ae37ce	69	/** Constants for position detection edge polarity */
okano	0:4beb37ae37ce	70	typedef enum {
okano	0:4beb37ae37ce	71	RISING_EDGE, /*< position detection done by rising edge /
okano	0:4beb37ae37ce	72	FALLING_EDGE /*< position detection done by falling edge /
okano	0:4beb37ae37ce	73	} PositionDetectPorarity;
okano	0:4beb37ae37ce	74
okano	0:4beb37ae37ce	75	/** Create a stepper motor object connected to specified DigitalOut pins and a DigitalIn pin
okano	0:4beb37ae37ce	76	*
okano	0:4beb37ae37ce	77	* @param out_A DigitalOut pin for motor pulse signal-A
okano	0:4beb37ae37ce	78	* @param out_B DigitalOut pin for motor pulse signal-B
okano	0:4beb37ae37ce	79	* @param out_PWR DigitalOut pin for TA7774's power control (option)
okano	0:4beb37ae37ce	80	* @param position_detect DigitalIn pin for home position detection (option)
okano	0:4beb37ae37ce	81	*/
okano	0:4beb37ae37ce	82	StepperMotor(
okano	0:4beb37ae37ce	83	PinName out_A = p21,
okano	0:4beb37ae37ce	84	PinName out_B = p22,
okano	0:4beb37ae37ce	85	PinName out_PWR = p23,
okano	0:4beb37ae37ce	86	PinName position_detect = p24
okano	0:4beb37ae37ce	87	) ;
okano	0:4beb37ae37ce	88
okano	0:4beb37ae37ce	89	/** Set the pulse width (i.e. motor turning speed)
okano	0:4beb37ae37ce	90	*
okano	0:4beb37ae37ce	91	* @param v pulse per second : default is 100. lower number makes the turn slower
okano	0:4beb37ae37ce	92	*/
okano	0:4beb37ae37ce	93	int set_pps( int v );
okano	0:4beb37ae37ce	94
okano	0:4beb37ae37ce	95	/** Set maximum PPS (= minimum pulse width) which will be used in finding home position
okano	0:4beb37ae37ce	96	*
okano	0:4beb37ae37ce	97	* @param v maximum pulse per second : default is 100. lower number makes the turn slower
okano	0:4beb37ae37ce	98	*/
okano	0:4beb37ae37ce	99	void set_max_pps( int v );
okano	0:4beb37ae37ce	100
okano	0:4beb37ae37ce	101	/** Find home position: rotate the motor until the detection edge comes.
okano	0:4beb37ae37ce	102	*
okano	0:4beb37ae37ce	103	* Turns the motor until the home position detected.
okano	0:4beb37ae37ce	104	* The "home position" is a reference point for the step and angle. It will be step=0 and angle=0.
okano	0:4beb37ae37ce	105	* The detection signal edge can be defined by an argument.
okano	0:4beb37ae37ce	106	* It follows the rotate mode.
okano	0:4beb37ae37ce	107	* When the edge is detected, the motor will be stopped and it will be the new home position.
okano	0:4beb37ae37ce	108	* If no detection signal detected, no home position update done.
okano	0:4beb37ae37ce	109	*
okano	0:4beb37ae37ce	110	* @param edge defines detection edge rise or fall
okano	0:4beb37ae37ce	111	*/
okano	0:4beb37ae37ce	112	int find_home_position( PositionDetectPorarity edge );
okano	0:4beb37ae37ce	113
okano	0:4beb37ae37ce	114	/** Update home position
okano	0:4beb37ae37ce	115	*
okano	0:4beb37ae37ce	116	* Set the home position as current motor position.
okano	0:4beb37ae37ce	117	*/
okano	0:4beb37ae37ce	118	void set_home_position( void );
okano	0:4beb37ae37ce	119
okano	0:4beb37ae37ce	120	/** Turn the motor to defined position (by steps from home position)
okano	0:4beb37ae37ce	121	*
okano	0:4beb37ae37ce	122	* Make motor move to absolute position
okano	0:4beb37ae37ce	123	*
okano	0:4beb37ae37ce	124	* @param v the position defined by steps from home position
okano	0:4beb37ae37ce	125	*/
okano	0:4beb37ae37ce	126	int go_position( int v );
okano	0:4beb37ae37ce	127
okano	0:4beb37ae37ce	128	/** Turn the motor to defined position (by angle (0.0..360 degree) from home position)
okano	0:4beb37ae37ce	129	*
okano	0:4beb37ae37ce	130	* Make motor move to absolute position
okano	0:4beb37ae37ce	131	*
okano	0:4beb37ae37ce	132	* @param v the position defined by steps from home position
okano	0:4beb37ae37ce	133	*/
okano	0:4beb37ae37ce	134	void go_angle( float angle );
okano	0:4beb37ae37ce	135
okano	0:4beb37ae37ce	136	/** Turn the motor to defined position (by steps from current position)
okano	0:4beb37ae37ce	137	*
okano	0:4beb37ae37ce	138	* Make motor move to defined position
okano	0:4beb37ae37ce	139	*
okano	0:4beb37ae37ce	140	* @param v the position defined by steps from home position
okano	0:4beb37ae37ce	141	*/
okano	0:4beb37ae37ce	142	int move_steps( int s );
okano	0:4beb37ae37ce	143
okano	0:4beb37ae37ce	144	/** Interface for motor rotate mode setting
okano	0:4beb37ae37ce	145	*
okano	0:4beb37ae37ce	146	* Example:
okano	0:4beb37ae37ce	147	* @code
okano	0:4beb37ae37ce	148	* StepperMotor m( p21, p22, p23, p24 );
okano	0:4beb37ae37ce	149	* int main() {
okano	0:4beb37ae37ce	150	* m.set_rot_mode( StepperMotor::NO_WRAPAROUND );
okano	0:4beb37ae37ce	151	* ...
okano	0:4beb37ae37ce	152	* @endcode
okano	0:4beb37ae37ce	153	*
okano	0:4beb37ae37ce	154	* @param m motor rotate mode : SHORTEST, NO_WRAPAROUND, CLOCKWISE_ONLY or COUNTER_CLOCKWISE_ONLY
okano	0:4beb37ae37ce	155	*/
okano	0:4beb37ae37ce	156	void set_rot_mode( RotMode m );
okano	0:4beb37ae37ce	157
okano	0:4beb37ae37ce	158	/** Interface for syncronization mode setting
okano	0:4beb37ae37ce	159	*
okano	0:4beb37ae37ce	160	* Example:
okano	0:4beb37ae37ce	161	* @code
okano	0:4beb37ae37ce	162	* StepperMotor m( p21, p22, p23, p24 );
okano	0:4beb37ae37ce	163	* int main() {
okano	0:4beb37ae37ce	164	* m.set_sync_mode( StepperMotor::NO_WRAPAROUND );
okano	0:4beb37ae37ce	165	* ...
okano	0:4beb37ae37ce	166	* @endcode
okano	0:4beb37ae37ce	167	*
okano	0:4beb37ae37ce	168	* @param m motor rotate mode : ASYNCHRONOUS or SYNCHRONOUS
okano	0:4beb37ae37ce	169	*/
okano	0:4beb37ae37ce	170	void set_sync_mode( SyncMode m );
okano	0:4beb37ae37ce	171
okano	0:4beb37ae37ce	172	/** Check remaining distance that motor need to move
okano	0:4beb37ae37ce	173	*
okano	0:4beb37ae37ce	174	* software can check if the motor action completed in asynchronous mode
okano	0:4beb37ae37ce	175	*
okano	0:4beb37ae37ce	176	* @return remaining steps that motor need to go
okano	0:4beb37ae37ce	177	*/
okano	0:4beb37ae37ce	178	int distance( void );
okano	0:4beb37ae37ce	179
okano	0:4beb37ae37ce	180	/** Pause/Resume the motor action
okano	0:4beb37ae37ce	181	*
okano	0:4beb37ae37ce	182	* @param sw use "true" for pause, "false" for resume
okano	0:4beb37ae37ce	183	*/
okano	0:4beb37ae37ce	184	void set_pause( int sw );
okano	0:4beb37ae37ce	185
okano	0:4beb37ae37ce	186	/** Auto power control enable
okano	0:4beb37ae37ce	187	*
okano	0:4beb37ae37ce	188	* If the auto power control is enabled, the motor power will be turned-off when it stays same place
okano	0:4beb37ae37ce	189	*
okano	0:4beb37ae37ce	190	* @param sw use "true" for pause, "false" for resume
okano	0:4beb37ae37ce	191	*/
okano	0:4beb37ae37ce	192	void set_power_ctrl( int sw );
okano	0:4beb37ae37ce	193
okano	0:4beb37ae37ce	194	/** Setting for steps/rotate
okano	0:4beb37ae37ce	195	*
okano	0:4beb37ae37ce	196	* This parameter is required if program want to use the "go_angle()" interface.
okano	0:4beb37ae37ce	197	* The angle will be calculated from this parameter.
okano	0:4beb37ae37ce	198	*
okano	0:4beb37ae37ce	199	* @param steps per rotate
okano	0:4beb37ae37ce	200	*/
okano	0:4beb37ae37ce	201	void set_steps_per_rotate( int steps );
okano	0:4beb37ae37ce	202
okano	0:4beb37ae37ce	203	private:
okano	0:4beb37ae37ce	204
okano	0:4beb37ae37ce	205	Ticker t;
okano	0:4beb37ae37ce	206	BusOut motor_out;
okano	0:4beb37ae37ce	207	DigitalOut pwr_out;
okano	0:4beb37ae37ce	208	DigitalIn position_detect_pin;
okano	0:4beb37ae37ce	209
okano	0:4beb37ae37ce	210	static const unsigned char pat[ 4 ]; // 2 phase pulse pattern for motor control
okano	0:4beb37ae37ce	211	RotMode rot_mode;
okano	0:4beb37ae37ce	212	SyncMode sync_mode;
okano	0:4beb37ae37ce	213	int max_pos;
okano	0:4beb37ae37ce	214	int current_pos;
okano	0:4beb37ae37ce	215	int pos_offset;
okano	0:4beb37ae37ce	216	int target_pos;
okano	0:4beb37ae37ce	217	int pps;
okano	0:4beb37ae37ce	218	int max_pps;
okano	0:4beb37ae37ce	219	int init_done;
okano	0:4beb37ae37ce	220	int pause;
okano	0:4beb37ae37ce	221	int power_ctrl;
okano	0:4beb37ae37ce	222
okano	0:4beb37ae37ce	223	void set_target_pos( int p ); // target position setting interface
okano	0:4beb37ae37ce	224	void motor_maintain( void ); // this function is called periodically by Ticker
okano	0:4beb37ae37ce	225	};
okano	0:4beb37ae37ce	226
okano	0:4beb37ae37ce	227
okano	0:4beb37ae37ce	228	#endif

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Type:	Library
Created:	25 Nov 2010
Imports:	994
Forks:	0
Commits:	3
Dependents:	1
Dependencies:	0
Followers:	29
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Components

Stepper motor (bipolar)