Tedd OKANO / StepperMotorUni

Unipolar stepper motor operation library

Dependents:   LAB04_Oppgave1 test_stepper Stepper_Motor_Demo StepperMotorUni_Hello ... more

Unipolar stepper motor library

This library generates pulses on 4 digital output pins of the mbed. The pulses are generated by mbed's ticker function.

The mbed pins cannot drive the stepper motor directly. So it requires driver stage for the motor. The circuit may be like following diagram.
The driver stage should be chosen by requirement for the stepper motor.

/media/uploads/okano/unipolar-steppermotor-sample.png

The mbed generates pulses on 4 output pins for external driver stage.
This library can generate 3 types of pulses.

1 phase drive (wave drive) /media/uploads/okano/1phase_drive.gif

2 phase drive /media/uploads/okano/2phase_drive.gif

1-2 phase (half step) drive /media/uploads/okano/halfstep_drive.gif

Components pages

Components pages are available for bipolar and unipolar motor libraries

A bipolar stepper motor driving pulse generator

A unipolar stepper motor driving pulse generator

Files at this revision

API Documentation at this revision

Revision 2:6835e719ff96, committed 2015-04-21

Comitter:
okano
Date:
Tue Apr 21 14:33:20 2015 +0000
Parent:
1:5de3a9848490
Child:
3:0eec6148e739
Commit message:
ramp control function enabled

Changed in this revision

StepperMotorUni.cpp Show annotated file Show diff for this revision Revisions of this file
StepperMotorUni.h Show annotated file Show diff for this revision Revisions of this file 
--- a/StepperMotorUni.cpp	Mon Apr 13 21:10:56 2015 +0000
+++ b/StepperMotorUni.cpp	Tue Apr 21 14:33:20 2015 +0000
@@ -277,8 +277,8 @@
 //printf( "%d>>>%d\r\n", current_pos, target_pos );
 
     if ( speed_rate != 1.0 ) {
-//        t.detach();
-//        t.attach( this, &StepperMotorUni::motor_maintain, ((1.0 / (float)pps)) / speed_rate );
+        t.detach();
+        t.attach( this, &StepperMotorUni::motor_maintain, ((1.0 / (float)pps)) / speed_rate );
     }
 
     if ( target_pos == current_pos ) {

--- a/StepperMotorUni.h	Mon Apr 13 21:10:56 2015 +0000
+++ b/StepperMotorUni.h	Tue Apr 21 14:33:20 2015 +0000
@@ -234,7 +234,17 @@
      */
     void set_steps_per_rotate( int steps );
 
+    /** Setting for ramp control
+     *
+     *  This function enables the ramp-up and ramp-down of the motor behavior
+     *
+     *  @param initial_speed_rate speed rate. if the pps was set to 50pps and 
+     *    initial_speed_rate is given like 0.1, the ramp-up-start and ramp-dowm-end 
+     *    speed will be 5pps (= 0.1 * 50pps)
+     *  @param ramp_steps the steps for ramp-up and ramp-down. 
+     */
     void set_ramp_control( float initial_speed_rate, int ramp_steps );
+    
 private:
 
     Ticker      t;