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 5:93f9ce526f38, committed 2015-04-27

Comitter:
okano
Date:
Mon Apr 27 01:16:51 2015 +0000
Parent:
4:6909efe4c8ac
Child:
6:007d0570ba4f
Commit message:
fixed: init_done behavior

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	Wed Apr 22 03:24:21 2015 +0000
+++ b/StepperMotorUni.cpp	Mon Apr 27 01:16:51 2015 +0000
@@ -2,8 +2,8 @@
  *
  *  @class   StepperMotorUni
  *  @author  Tedd OKANO
- *  @version 1.1.1
- *  @date    22-Apr-2015
+ *  @version 1.1.2
+ *  @date    27-Apr-2015
  *
  *  Copyright: 2010, 2014, 2015 Tedd OKANO
  *  Released under the Apache 2 license License
@@ -38,6 +38,7 @@
  *  version 1.0.1 (14-Apr-2015) //  API document correction
  *  version 1.1   (21-Apr-2015) //  ramp control function enabled
  *  version 1.1.1 (22-Apr-2015) //  fixed: find_home_position compatibility with ramp control feature
+ *  version 1.1.2 (27-Apr-2015) //  fixed: init_done behavior 
  */
 
 #include "mbed.h"
@@ -50,6 +51,7 @@
     PinName out_D,
     PinName position_detect
 ) :
+    init_done( false ),
     motor_out( out_A, out_B, out_C, out_D ),
     position_detect_pin( position_detect ),
     rot_mode( SHORTEST ),
@@ -59,7 +61,6 @@
     pos_offset( 0 ),
     target_pos( 0 ),
     max_pps( MAX_PPS ),
-    init_done( false ),
     pause( false ),
     power_ctrl( false ),
     ramp_init_speed_rate( 1.0 ),
@@ -118,6 +119,8 @@
     else
         direction   = 1;
 
+    init_done   = false;
+
     if ( prev_rot == NO_WRAPAROUND ) {
 
         for ( int i = 0; i < (max_pos >> 1); i++ ) {

--- a/StepperMotorUni.h	Wed Apr 22 03:24:21 2015 +0000
+++ b/StepperMotorUni.h	Mon Apr 27 01:16:51 2015 +0000
@@ -2,8 +2,8 @@
  *
  *  @class   StepperMotorUni
  *  @author  Tedd OKANO
- *  @version 1.1.1
- *  @date    22-Apr-2015
+ *  @version 1.1.2
+ *  @date    27-Apr-2015
  *
  *  Copyright: 2010, 2014, 2015 Tedd OKANO
  *  Released under the Apache 2 license License
@@ -38,6 +38,7 @@
  *  version 1.0.1 (14-Apr-2015) //  API document correction
  *  version 1.1   (21-Apr-2015) //  ramp control function enabled
  *  version 1.1.1 (22-Apr-2015) //  fixed: find_home_position compatibility with ramp control feature
+ *  version 1.1.2 (27-Apr-2015) //  fixed: init_done behavior 
  */
 
 #ifndef    MBED_STEPPERMOTOR_UNIPOLAR
@@ -240,13 +241,15 @@
      *
      *  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 
+     *  @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. 
+     *  @param ramp_steps the steps for ramp-up and ramp-down.
      */
     void set_ramp_control( float initial_speed_rate, int ramp_steps );
-    
+
+    int         init_done;
+
 private:
 
     Ticker      t;
@@ -267,7 +270,6 @@
     int         target_pos;
     float       pps;
     float       max_pps;
-    int         init_done;
     int         pause;
     int         power_ctrl;
     float       ramp_init_speed_rate;