motorControl.h

00001 /*
00002 ############################################
00003 ##           Motor Control v0.1 Library   ##
00004 ##          created by Peter Ilsoee       ##
00005 ############################################
00006         ---- piniels@gmail.com -----
00007 This library was made for 4-Phase Stepper Motors for A4980 SPI device from Allegro
00008 I don't take any resposability for the damage caused to your equipment.
00009 
00010 */
00011 #ifndef MOTOR_CONTROL_H
00012 #define MOTOR_CONTROL_H
00013 
00014 #include "mbed.h"
00015 #include "A4980ControlRegi.h"
00016 
00017 class motorControl {
00018 public:
00019 
00020     motorControl(int numberOfSteps, PinName step, PinName dir, PinName ms1, PinName ms0, PinName enable, PinName reset, PinName diag); //motor constructor
00021     void step(int num_steps, int direction, int speed);
00022 
00023     void initSpi();
00024     int setConfigRegi0(t_config_control_regi_0 value);
00025     int setConfigRegi1(t_config_control_regi_1 value);
00026     int setRunRegi(t_run_regi value);
00027     int getStepCount();
00028     void setStepCount(int value);
00029     void setMicroSteps(int value);
00030     int getMicroSteps();
00031     t_config_control_regi_0 getConfigRegi0();
00032     t_config_control_regi_1 getConfigRegi1();
00033     t_run_regi getRunRegi();
00034     void runStepperAtSpeed(bool startStop, int whatSpeed, int direction);
00035     void runStepperAtSpeedWithSPI(bool startStop, int whatSpeed, int direction);
00036     void goToZeroPosition(int whatSpeed);
00037     void openCloseValve(bool openTrue);
00038     /** Call back member for timer tick
00039      *
00040      */
00041     void runMotor(void);
00042     void doRamp(int numberOfRampsteps,float endDelay);
00043     float calculateStepDelay(int whatSpeed);
00044     void step(int num_steps, int delay, bool direction);
00045     
00046 private:
00047     int _Number_OF_STEPS;
00048     int _Step_Counter;
00049     bool _Bool_Direction;
00050     PwmOut _STEP;
00051     DigitalOut _DIR;
00052     DigitalOut _MS1;
00053     DigitalOut _MS0;
00054     DigitalOut _ENABLE;
00055     DigitalOut _RESET;
00056     DigitalIn  _DIAG;
00057     float step_delay;
00058     t_config_control_regi_0 _REGI_0;
00059     t_config_control_regi_1 _REGI_1;
00060     t_run_regi              _REGI_RUN;
00061     
00062 
00063 
00064 
00065 };
00066 
00067 #endif