Ilsoe Peter / motorControl

for controlling stepper motor with A4980

Dependents:   HIDTympDeviceWithPIDController

motorControl.h@0:9156e6b6bf46, 2014-10-06 (annotated)

Committer:
piniels
Date:
Mon Oct 06 11:57:45 2014 +0000
Revision:
0:9156e6b6bf46
jkhasd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
piniels 0:9156e6b6bf46 1 /*
piniels 0:9156e6b6bf46 2 ############################################
piniels 0:9156e6b6bf46 3 ## Motor Control v0.1 Library ##
piniels 0:9156e6b6bf46 4 ## created by Peter Ilsoee ##
piniels 0:9156e6b6bf46 5 ############################################
piniels 0:9156e6b6bf46 6 ---- piniels@gmail.com -----
piniels 0:9156e6b6bf46 7 This library was made for 4-Phase Stepper Motors for A4980 SPI device from Allegro
piniels 0:9156e6b6bf46 8 I don't take any resposability for the damage caused to your equipment.
piniels 0:9156e6b6bf46 9
piniels 0:9156e6b6bf46 10 */
piniels 0:9156e6b6bf46 11 #ifndef MOTOR_CONTROL_H
piniels 0:9156e6b6bf46 12 #define MOTOR_CONTROL_H
piniels 0:9156e6b6bf46 13
piniels 0:9156e6b6bf46 14 #include "mbed.h"
piniels 0:9156e6b6bf46 15 #include "A4980ControlRegi.h"
piniels 0:9156e6b6bf46 16
piniels 0:9156e6b6bf46 17 class motorControl {
piniels 0:9156e6b6bf46 18 public:
piniels 0:9156e6b6bf46 19
piniels 0:9156e6b6bf46 20 motorControl(int numberOfSteps, PinName step, PinName dir, PinName ms1, PinName ms0, PinName enable, PinName reset, PinName diag); //motor constructor
piniels 0:9156e6b6bf46 21 void step(int num_steps, int direction, int speed);
piniels 0:9156e6b6bf46 22
piniels 0:9156e6b6bf46 23 void initSpi();
piniels 0:9156e6b6bf46 24 int setConfigRegi0(t_config_control_regi_0 value);
piniels 0:9156e6b6bf46 25 int setConfigRegi1(t_config_control_regi_1 value);
piniels 0:9156e6b6bf46 26 int setRunRegi(t_run_regi value);
piniels 0:9156e6b6bf46 27 int getStepCount();
piniels 0:9156e6b6bf46 28 void setStepCount(int value);
piniels 0:9156e6b6bf46 29 void setMicroSteps(int value);
piniels 0:9156e6b6bf46 30 int getMicroSteps();
piniels 0:9156e6b6bf46 31 t_config_control_regi_0 getConfigRegi0();
piniels 0:9156e6b6bf46 32 t_config_control_regi_1 getConfigRegi1();
piniels 0:9156e6b6bf46 33 t_run_regi getRunRegi();
piniels 0:9156e6b6bf46 34 void runStepperAtSpeed(bool startStop, int whatSpeed, int direction);
piniels 0:9156e6b6bf46 35 void runStepperAtSpeedWithSPI(bool startStop, int whatSpeed, int direction);
piniels 0:9156e6b6bf46 36 void goToZeroPosition(int whatSpeed);
piniels 0:9156e6b6bf46 37 void openCloseValve(bool openTrue);
piniels 0:9156e6b6bf46 38 /** Call back member for timer tick
piniels 0:9156e6b6bf46 39 *
piniels 0:9156e6b6bf46 40 */
piniels 0:9156e6b6bf46 41 void runMotor(void);
piniels 0:9156e6b6bf46 42 void doRamp(int numberOfRampsteps,float endDelay);
piniels 0:9156e6b6bf46 43 float calculateStepDelay(int whatSpeed);
piniels 0:9156e6b6bf46 44 void step(int num_steps, int delay, bool direction);
piniels 0:9156e6b6bf46 45
piniels 0:9156e6b6bf46 46 private:
piniels 0:9156e6b6bf46 47 int _Number_OF_STEPS;
piniels 0:9156e6b6bf46 48 int _Step_Counter;
piniels 0:9156e6b6bf46 49 bool _Bool_Direction;
piniels 0:9156e6b6bf46 50 PwmOut _STEP;
piniels 0:9156e6b6bf46 51 DigitalOut _DIR;
piniels 0:9156e6b6bf46 52 DigitalOut _MS1;
piniels 0:9156e6b6bf46 53 DigitalOut _MS0;
piniels 0:9156e6b6bf46 54 DigitalOut _ENABLE;
piniels 0:9156e6b6bf46 55 DigitalOut _RESET;
piniels 0:9156e6b6bf46 56 DigitalIn _DIAG;
piniels 0:9156e6b6bf46 57 float step_delay;
piniels 0:9156e6b6bf46 58 t_config_control_regi_0 _REGI_0;
piniels 0:9156e6b6bf46 59 t_config_control_regi_1 _REGI_1;
piniels 0:9156e6b6bf46 60 t_run_regi _REGI_RUN;
piniels 0:9156e6b6bf46 61
piniels 0:9156e6b6bf46 62
piniels 0:9156e6b6bf46 63
piniels 0:9156e6b6bf46 64
piniels 0:9156e6b6bf46 65 };
piniels 0:9156e6b6bf46 66
piniels 0:9156e6b6bf46 67 #endif