Diff: motorControl.h

Revision:

0:9156e6b6bf46

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motorControl.h	Mon Oct 06 11:57:45 2014 +0000
@@ -0,0 +1,67 @@
+/*
+############################################
+##           Motor Control v0.1 Library   ##
+##          created by Peter Ilsoee       ##
+############################################
+        ---- piniels@gmail.com -----
+This library was made for 4-Phase Stepper Motors for A4980 SPI device from Allegro
+I don't take any resposability for the damage caused to your equipment.
+
+*/
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include "mbed.h"
+#include "A4980ControlRegi.h"
+
+class motorControl {
+public:
+
+    motorControl(int numberOfSteps, PinName step, PinName dir, PinName ms1, PinName ms0, PinName enable, PinName reset, PinName diag); //motor constructor
+    void step(int num_steps, int direction, int speed);
+
+    void initSpi();
+    int setConfigRegi0(t_config_control_regi_0 value);
+    int setConfigRegi1(t_config_control_regi_1 value);
+    int setRunRegi(t_run_regi value);
+    int getStepCount();
+    void setStepCount(int value);
+    void setMicroSteps(int value);
+    int getMicroSteps();
+    t_config_control_regi_0 getConfigRegi0();
+    t_config_control_regi_1 getConfigRegi1();
+    t_run_regi getRunRegi();
+    void runStepperAtSpeed(bool startStop, int whatSpeed, int direction);
+    void runStepperAtSpeedWithSPI(bool startStop, int whatSpeed, int direction);
+    void goToZeroPosition(int whatSpeed);
+    void openCloseValve(bool openTrue);
+    /** Call back member for timer tick
+     *
+     */
+    void runMotor(void);
+    void doRamp(int numberOfRampsteps,float endDelay);
+    float calculateStepDelay(int whatSpeed);
+    void step(int num_steps, int delay, bool direction);
+    
+private:
+    int _Number_OF_STEPS;
+    int _Step_Counter;
+    bool _Bool_Direction;
+    PwmOut _STEP;
+    DigitalOut _DIR;
+    DigitalOut _MS1;
+    DigitalOut _MS0;
+    DigitalOut _ENABLE;
+    DigitalOut _RESET;
+    DigitalIn  _DIAG;
+    float step_delay;
+    t_config_control_regi_0 _REGI_0;
+    t_config_control_regi_1 _REGI_1;
+    t_run_regi              _REGI_RUN;
+    
+
+
+
+};
+
+#endif