Pousse-Seringue Ulg
Dependents: Pousse_seringue_Ulg 0__Pousse_seringue
Fork of Stepper by
Stepper.h
- Committer:
- philipperenoire
- Date:
- 2016-06-27
- Revision:
- 2:7add6d8dfc47
- Parent:
- 1:a456aa3935ca
File content as of revision 2:7add6d8dfc47:
#ifndef STEPPER_H #define STEPPER_H #include "mbed.h" /** Stepper class. * Used for drive Stepper motor * * Example: * @code * #include "mbed.h" * #include "Stepper.h" * * DigitalIn home(p20); * Stepper mot(p21,p22); * * int main() * { * mot.setSpeed(1200); * mot.setAcceleration(4000); * mot.setDeceleration(4000); * * mot.rotate(CW); * while(!home); * mot.stop(); * mot.setPositionZero(); * * mot.goesTo(1600); * while(!mot.stopped()); * * while(1) * { * * } * } * @endcode */ class Stepper : public TimerEvent { 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 */ Stepper(PinName clk, PinName dir); /** Moving the motor relative to a reference position (set by setPositionZero()) * @param position steps from position zero */ void goesTo(int position); /** Moving the motor for given steps * @param steps number of steps to go(>0 CW ; <0 CCW) */ void move(int steps); /** Moving the motor until user stop * @param direction rotation Stepper::CC or Stepper::CCW */ void rotate(bool direction); /** Stop the motor as fast as possible */ void stop(void); /**Set Rotation Speed * @param speed [steps/sec] */ void setSpeed(float speed); /**Set Acceleration ramp * @param acc acceleration [steps/sec²] (0 = infinite acceleration 1st step @ max speed) */ void setAcceleration(float acc); /**Set Deceleration ramp * @param dec deceleration [steps/sec²] (0 = infinite deceleration last step @ max speed) */ void setDeceleration(float dec); /**Give Origin for motor absolute movement */ void setPositionZero(void); /**Check if motor is stopped * @returns true if motor stopped */ bool stopped(void); /**Get absolute position from origin * @returns position [steps] from origin set by setPositionZero() */ int getPosition(void); /**Get Acceleration * @returns acceleration [steps/sec²] */ float getAcceleration(void); /**Get Deceleration * @returns deceleration [steps/sec²] */ float getDeceleration(void); /**Get Speed * @returns speed [steps/sec] */ float getSpeed(void); /**Enum for direction * CW=true or 1; CCW=false or 0 */ typedef enum {CW=1,CCW=0} direction; protected: 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 enum {STOP,ACCEL,CRUISE,DECEL}_state; //Motor state 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