philippe renoire / Pousse_Seringue

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependents:   Pousse_seringue_Ulg 0__Pousse_seringue

Fork of Stepper by Mederic Melard

Embed: (wiki syntax)

« Back to documentation index

Stepper Class Reference
Public Types | Public Member Functions

Stepper Class Reference

Stepper class. More...

#include <Stepper.h>

Public Types

enum  direction
 

Enum for direction CW=true or 1; CCW=false or 0.

More...

Public Member Functions

 Stepper (PinName clk, PinName dir)
 Create Stepper instance connected to pin clk & dir.
void goesTo (int position)
 Moving the motor relative to a reference position (set by setPositionZero())
void move (int steps)
 Moving the motor for given steps.
void rotate (bool direction)
 Moving the motor until user stop.
void stop (void)
 Stop the motor as fast as possible.
void setSpeed (float speed)
 Set Rotation Speed.
void setAcceleration (float acc)
 Set Acceleration ramp.
void setDeceleration (float dec)
 Set Deceleration ramp.
void setPositionZero (void)
 Give Origin for motor absolute movement.
bool stopped (void)
 Check if motor is stopped.
int getPosition (void)
 Get absolute position from origin.
float getAcceleration (void)
 Get Acceleration.
float getDeceleration (void)
 Get Deceleration.
float getSpeed (void)
 Get Speed.

Detailed Description

Stepper class.

Used for drive Stepper motor

Example: 

 #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)
    {

    }
 }

Definition at line 37 of file Stepper.h.

Member Enumeration Documentation

enum direction

Enum for direction CW=true or 1; CCW=false or 0.

Definition at line 112 of file Stepper.h.

Constructor & Destructor Documentation

Stepper ( PinName  clk,
PinName  dir 
)

Create Stepper instance connected to pin clk & dir.

Parameters:
clkpin to connect at clk/step output
dirpin to connect at dir output

Definition at line 6 of file Stepper.cpp.

Member Function Documentation

float getAcceleration ( void   )

Get Acceleration.

Returns:
acceleration [steps/sec²]

Definition at line 36 of file Stepper.cpp.

float getDeceleration ( void   )

Get Deceleration.

Returns:
deceleration [steps/sec²]

Definition at line 46 of file Stepper.cpp.

int getPosition ( void   )

Get absolute position from origin.

Returns:
position [steps] from origin set by setPositionZero()

Definition at line 56 of file Stepper.cpp.

float getSpeed ( void   )

Get Speed.

Returns:
speed [steps/sec]

Definition at line 25 of file Stepper.cpp.

void goesTo ( int  position )

Moving the motor relative to a reference position (set by setPositionZero())

Parameters:
positionsteps from position zero

Definition at line 101 of file Stepper.cpp.

void move ( int  steps )

Moving the motor for given steps.

Parameters:
stepsnumber of steps to go(>0 CW ; <0 CCW)

Definition at line 85 of file Stepper.cpp.

void rotate ( bool  direction )

Moving the motor until user stop.

Parameters:
directionrotation Stepper::CC or Stepper::CCW

Definition at line 77 of file Stepper.cpp.

void setAcceleration ( float  acc )

Set Acceleration ramp.

Parameters:
accacceleration [steps/sec²] (0 = infinite acceleration 1st step @ max speed)

Definition at line 30 of file Stepper.cpp.

void setDeceleration ( float  dec )

Set Deceleration ramp.

Parameters:
decdeceleration [steps/sec²] (0 = infinite deceleration last step @ max speed)

Definition at line 41 of file Stepper.cpp.

void setPositionZero ( void   )

Give Origin for motor absolute movement.

Definition at line 51 of file Stepper.cpp.

void setSpeed ( float  speed )

Set Rotation Speed.

Parameters:
speed[steps/sec]

Definition at line 19 of file Stepper.cpp.

void stop ( void   )

Stop the motor as fast as possible.

Definition at line 69 of file Stepper.cpp.

bool stopped ( void   )

Check if motor is stopped.

Returns:
true if motor stopped

Definition at line 61 of file Stepper.cpp.

Generated on Sat Jul 23 2022 09:55:00 by  doxygen 1.7.2