Tarek Lule
My Version of the Crealab MotorLib.
Diff: motor.h
- Revision:
- 23:6060422cd6eb
- Parent:
- 22:d2c742bdae16
--- a/motor.h Thu Jan 03 23:15:42 2019 +0000
+++ b/motor.h Wed Apr 17 21:48:14 2019 +0000
@@ -1,10 +1,12 @@
/**
- * @file motor.h
- * \brief File contains Crealab Motor Library.
+ * @file CreaMot.h
+ * \brief File contains Crealab CreaMot Library.
- * motor.h contains the class Motor, and related enums and structs.
+ * CreaMot.h contains the class CreaMot, and related enums and structs.
* Includes only "mbed.h".
-
+ *
+ * MotStatus structure is dissolved into the CreaMot Class
+ *
* Rotation directions are now consistently called Clockwise, and Counterclockwise (CCW),
* instead of mix them with Left and Right.
* Doxygens Tags are preceeded by either a backslash @\ or by an at symbol @@.
@@ -13,35 +15,38 @@
* @date 01. Nov. 2018.
* @see https://os.mbed.com/users/sepp_nepp/code/MotorLib/ */
- // -------------------- Motor ---------------------------
+ // -------------------- CreaMot ---------------------------
#ifndef MOTOR_H
#define MOTOR_H
#include "mbed.h"
-#define MOTOR_STEP_TIME_MIN_US 700 /**< Shortest Time between two motor steps = 0.7ms, was MOTOR_STEP_TIME_MIN*/
-#define MOTOR_STEP_TIME_DEFAULT_US 5000 /**< Default Time between two motor steps = 5ms, was MOTOR_STEP_TIME_DEFAULT*/
-#define MOTOR_STEPS_FOR_A_TURN 4096 /**< Default number of motor steps to complete a turn = 4096 steps */
+#define MOTOR_STEP_TIME_MIN_US 700 /**< Shortest Time between two CreaMot steps = 0.7ms, was MOTOR_STEP_TIME_MIN*/
+#define MOTOR_STEP_TIME_DEFAULT_US 5000 /**< Default Time between two CreaMot steps = 5ms, was MOTOR_STEP_TIME_DEFAULT*/
+#define MOTOR_STEPS_FOR_A_TURN 4096 /**< Default number of CreaMot steps to complete a turn = 4096 steps */
#define CLOCKWISE true /**< Constant for Clockwise direction */
#define COUNTERCLOCKWISE false /**< Constant for Counter-Clockwise direction */
-#define MIN_SPEED_CM_SEC 0.1f /**< Constant for minimum speed in cm/sec */
+#define MAX_SPEED_CM_SEC 30.0f /**< Clamp maximum advancement speed = 30cm/sec, was MAX_SPEED */
+#define MIN_SPEED_CM_SEC 0.001f /**< Clamp minimum advancement speed = 10um/sec */
+#define PI 3.141592f /** PI needed to calcuate from angle to distances */
+#define PI_OVER_180 (PI/180.0f) /** needed to translate from angle to circumference */
/** \enum motStates
-* \brief Possible States of Motor state machine
+* \brief Possible States of CreaMot state machine
*
* Motor_CALIB is deprecated, was removed from the enum structure */
typedef enum {
Motor_OFF = 0, /**< All phase currents is off, replaces Motor_STOP. */
- Motor_ZERO, /**< Motor at phase position 0 and ON, only reached by call of Zero() procedure. */
- Motor_ON, /**< Phases are engaged, but Motor state machine stopped, replaces Motor_PAUSE. */
- Motor_RUN /**< Phases are engaged, and Motor state machine runs*/
+ Motor_ZERO, /**< CreaMot at phase position 0 and ON, only reached by call of Zero() procedure. */
+ Motor_ON, /**< Phases are engaged, but CreaMot state machine stopped, replaces Motor_PAUSE. */
+ Motor_RUN /**< Phases are engaged, and CreaMot state machine runs*/
} motStates;
/** \enum motCmands
-* \brief Commands that are handled by the Motor state machine
+* \brief Commands that are handled by the CreaMot state machine
*
-* These Commands are issued asynchonously by call Motor class methods.
+* These Commands are issued asynchonously by calling CreaMot class methods.
* They are executed in the state machine called by the ticker handler.
*
* OFF and STOP commands do not go through the state machine.
@@ -50,72 +55,65 @@
*/
typedef enum {
MOTOR_nop = 0, /**< No active command to execute. */
- MOTOR_run, /**< Run Motor until Nsteps are achieved. */
- MOTOR_stop, /**< Stop immediately all activity, turn off Motor. */
- MOTOR_pause /**< Motor is temporarily paused from the state run. */
+ MOTOR_run, /**< Run CreaMot until Nsteps are achieved. */
+ MOTOR_stop, /**< Stop immediately all activity, turn off CreaMot. */
+ MOTOR_pause /**< CreaMot is temporarily paused from the state run. */
} motCmands;
-/** \struct MotStatus
-* \brief Structure of Motor Status registers.
-*
-* Used by Motor Class to hold all Status 'Registers'.
-* The structure can be requested to get by Motor.getStatus().
-*/
-typedef struct {
- motStates state; /**< General state that the motor state machine is in.*/
- motCmands cmd; /**< Command asked to be executed currently by the state machine.*/
- bool ClockWise; /**< Direction that the Motor is asked to run. True if Clockwise */
- int32_t NSteps; /**< Number of steps remain for the Motor to run.
- NSteps=0: all steps finished; NSteps<0: indicates to run "forever" */
- bool TickIsAttached;
- /**< Indicates if Ticker is attached.
- Ticker is automatically attached while Motor runs, or paused;
- detaches when finished a run, or stopped. */
- void set(motCmands aCmd, bool AClockWise, int32_t aNSteps);
- /**< Helper; set Command, Direction and NSteps in one call. */
-} MotStatus;
-
/** ATTENTION UNDER CONSTRUCTION, DO NOT YET USE.
*
-*Class of a Four Phase Stepper Motor.
+* Class of a Four Phase Stepper CreaMot.
+*
+* Perform Runs for number of steps, or given amount angle, but also Low-Level steps.
*
-*Perform Runs for number of steps, or given amount angle, but also Low-Level steps.
+* High-Level Run functions have 'Run' in their name.
+* They rely on tickers and return immediately after ticker is set up.
+* A state-machine evaluates the one ongoing command versus the CreaMot state at every tick.
+* When End of Run is detected tickers stop, and CreaMot turns off.
*
-*High-Level Run functions have 'Run' in their name.
-*They rely on tickers and return immediately after ticker is set up.
-*A state-machine evaluates commands versus the Motor state at every tick.
-*When End of Run is detected tickers stop, and Motor turns off.
+* To define the speed of the CreaMot set the variable StepTime_us, either by
+* a) Using the createor CreaMot(...., uint32_t AStepTime_us);
+* b) Calling function setStepTime_us(uint32_t AStepTime_us); any time
+* c) or leave it to the default value MOTOR_STEP_TIME_DEFAULT_US = 5000
*
-*Callbacks can be attached to react to 'end of run' events.
+* To be able to run the CreaMot for a given angle, set the number of steps per full turn
+* with the function "setStepsFullTurn"
+* That value defaults to MOTOR_STEPS_FOR_A_TURN = 4096
+*
+* To be able to run the CreaMot for a given perimeter distance in centimeters,
+* set the wheel diameter with the function setDiamCM( float Adiam_cm);
+*
+* Callbacks can be attached to react to 'end of run' events.
+*
*Attention: the attached Callback is called within a Ticker Callback.
* Your code you execute in the Callback should be short, must not use waits, or any long routines.
-* Do not call any Motor run commands in the callback, as it creates conflict situations.
+* Do not call any CreaMot run commands in the callback, as it creates conflict situations.
* Long Callback code may impair this and any other Ticker functions that run in your application.
*
*Low-Level functions directly talk to the hardware without ticker.
-*Use of Low-Level functions while tickers still run may lead to unexpected behavior.
+* Use of Low-Level functions while tickers still run may lead to unexpected behavior.
*
* NB: all times are uint32_t, step numbers are int32_t
*/
-class Motor
+class CreaMot
{
public:
- /** Motor Class Creator
+ /** CreaMot Class Creator
*
* Creates the class, initiallizes all fields, creates Phase Pins.
- * Time between two steps defaults here to MOTOR_STEP_TIME_DEFAULT_US=5000usec.
+ * Time between two steps defaults here to MOTOR_STEP_TIME_DEFAULT_US = 5000usec.
* Pin names are used to create digital outputs: Pin0 = new DigitalOut(_MPh0)
*
@code
PinName MotPhases[] = {PB_1, PB_15, PB_14, PB_13};
- Motor MotorName(MotPhases); // Call this creator for example like this:
+ CreaMot MotorName(MotPhases); // Call this creator for example like this:
@endcode
*
* @param _MPh Array of Names of the 4 Digital Pins of type PinNames
*/
- Motor(PinName _MPh[4] );
+ CreaMot(PinName _MPh[4] );
- /** Motor Class Creator
+ /** CreaMot Class Creator
*
* Creates the class, initiallizes all fields, creates Phase Pins.
* Time between two steps defaults here to MOTOR_STEP_TIME_DEFAULT_US=5000usec.
@@ -123,14 +121,14 @@
*
@code
// Call this creator for example like this:
- Motor MotorName(PB_1, PB_15, PB_14, PB_13);
+ CreaMot MotorName(PB_1, PB_15, PB_14, PB_13);
@endcode
*
* @param <_MPh0, _MPh1, _MPh2, _MPh3> List of Names of the 4 Digital Pins of type PinNames
*/
- Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3);
+ CreaMot(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3);
- /** Motor Class Creator
+ /** CreaMot Class Creator
*
* Creates the class, initiallizes all fields, creates Phase Pins.
* Time between two steps is passed as parameter.
@@ -138,13 +136,13 @@
*
@code
// Call this creator for example like this:
- Motor MotorName(PB_1, PB_15, PB_14, PB_13);
+ CreaMot MotorName(PB_1, PB_15, PB_14, PB_13, 6000);
@endcode
*
* @param <_MPh0, _MPh1, _MPh2, _MPh3> List of Names of the 4 Digital Pins of type PinNames
- * @param <AStepTime_us> Lthe time in usec between two steps, thats used initially.
+ * @param <AStepTime_us> the time in usec between two steps, thats used initially.
*/
- Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t AStepTime_us);
+ CreaMot(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t AStepTime_us);
private:
// deprecated: void initialization(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t AStepTime_us);
@@ -153,8 +151,8 @@
public:
/** Attach a basic Callback function.
*
- * Only called when a Run Command reaches it's requested end.
- * Not called when the Motor is stopped by a call of Stop Function, or any other events.
+ * A callback is called when the current Command reaches it's requested end.
+ * Not called when the CreaMot is stopped by a call of Stop Function, or any other events.
* For use see precautions at Class description above.
* Formerly called setMotorCallback()
*
@@ -186,7 +184,7 @@
/** Attach a Callback function, member of a class.
* Only called when a Run Command reaches it's requested end.
- * Not called when the Motor is stopped by a call of Stop Function, or any other events.
+ * Not called when the CreaMot is stopped by a call of Stop Function, or any other events.
* For use see precautions at Class description above.
* @param <*object> Class pointer which possesses callback member.
* @param <*CBmember> Pointer to callback function, member of Class.
@@ -213,37 +211,46 @@
/** Remove the Callback function that may have been attached previously. */
void callbackRemove() { _callback = NULL; };
-public
+public:
// *********************************************************************
- // all following functions are agnostic of centimeter-information
+ // all following functions use wheel diameter to achieve cm distance
// *********************************************************************
- /** High Level: Run Motor for a given number of centimeters.
+ /** High Level: Run CreaMot for a given number of centimeters.
*
- * Runs Motor for a given circumference in cimeters in given direction.
+ * Runs CreaMot for a given wheel circumference in cimeters in given direction.
* You must setup the perimeter and diameter with setDiam(Adiam_cm) in advance, otherwise no reaction.
- * Call Pause() or Stop() to pause or end the Motor run prematurely.
+ * Call Pause() or Stop() to pause or end the CreaMot run prematurely.
* While run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
* At end: calls attached Callback, stops ticker; State: Motor_OFF; cmd=MOTOR_stop then MOTOR_nop.
* @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE.
- * @param[in] <centimeters> Circumference to rotate for, in cm, centimeters<0 are run in opposite direction.
+ * @param[in] <Dist_cm> Circumference to rotate for, in cm, Dist_cm<0 are run in opposite direction.
*/
- void RunCentimeters (bool AClockWise, float centimeters);
+ void RunDist_cm (bool AClockWise, float Dist_cm);
- /** High Level: Run Motor for a given number of centimeters in default direction.
- * Same as RunCentimeters(AClockWise,centimeters) but uses Default diretion.*/
- void RunCentimeters (float centimeters);
+ /** High Level: Run CreaMot for a given number of centimeters in default direction.
+ * Same as RunDist_cm(AClockWise,Dist_cm) but uses Default diretion.*/
+ void RunDist_cm (float Dist_cm);
+
+ /** High Level: Run CreaMot for a turn angle around a turn_radius_cm in default direction
+ *
+ * Runs CreaMot for a given wheel circumference in cimeters in given direction.
+ * You must setup the perimeter and diameter with setDiam(Adiam_cm) in advance, otherwise no reaction.
+ * Call Pause() or Stop() to pause or end the CreaMot run prematurely.
+ * While run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
+ * At end: calls attached Callback, stops ticker; State: Motor_OFF; cmd=MOTOR_stop then MOTOR_nop.
+ * @param[in] <turn_angle_deg> Given turn angle in degrees that should be run
+ * @param[in] <turn_radius_cm> Given Trun radius that should be run */
+ float RunTurnAngle(float turn_angle_deg, float turn_radius_cm);
/** Additional geometric information: set the wheel diameter, also sets perimeter and degrees per cm.*/
void setDiamCM( float Adiam_cm);
- /** Set Motor speed in centimeter/sec, based on perimeter in cm */
- void setSpeed_cm_sec(float speed_cm_sec)
+ /** Set CreaMot speed in centimeter/sec, based on perimeter in cm */
+ void setSpeed_cm_sec(float speed_cm_sec);
- /** Helper: calculate the needed wheel angle from a turn angle and a turn_radius_cm */
- float calcAngle(float turn_angle_deg, float turn_radius_cm)
- /** Calculated wheel Angle from calcAngle Helper function */
+ /** Calculated wheel Angle from calcAngle() Helper function */
float rotate_angle_deg;
/** Additional geometric information: wheel diameter in centimeter */
@@ -259,27 +266,34 @@
bool defaultDirection;
/** State value that is used and managed by the class owner.
- * Used for example by Creabot library to indicate if this is the left or right motor.
+ * Used for example by Creabot library to indicate if this is the left or right CreaMot.
*/
char StateValue;
-public
+public:
// *****************************************************************
- // all following functions are agnostic of centimeter-information
+ // following functions are agnostic of wheel dimensions in centimeters
// *****************************************************************
- /** High Level: Run Motor for a given angle.
+ /** High Level: Run CreaMot for a given angle.
*
- * Runs Motor for a given angle in given direction.
- * Call Pause() or Stop() to pause or end the Motor run prematurely.
- * While run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
+ * Runs CreaMot for a given angle in given direction.
+ * Angles<0 are run in opposite direction.
+ * Call Pause() or Stop() to pause or end the CreaMot run prematurely.
+ * While running: Uses ticker;
+ * State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
* At end: calls attached Callback, stops ticker; State: Motor_OFF; cmd=MOTOR_stop then MOTOR_nop.
* @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE.
* @param[in] <angle_deg> Angle>0 to rotate for, in degrees, Angles<0 are run in opposite direction.
*/
void RunDegrees (bool AClockWise, float angle_deg);
+
+ /** High Level: Run CreaMot for a given angle in default direction
+ * for details see RunDegrees (bool AClockWise, float angle_deg);
+ */
+ void RunDegrees (float angle_deg);
- /** High Level: Run Motor for a number of Steps.
+ /** High Level: Run CreaMot for a number of Steps.
*
* During Run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
* Call Pause() or Stop() to pause or end the run prematurely.
@@ -289,17 +303,17 @@
*/
void RunSteps (bool AClockWise, int32_t Nsteps);
- /** High Level: Run Motor "unlimited"
+ /** High Level: Run CreaMot "unlimited"
*
- * Runs Motor with out limit in given direction, precisely runs 4Billion Steps.
+ * Runs CreaMot with out limit in given direction, precisely runs 4Billion Steps.
* While run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
- * Call Pause() or Stop() to pause or end the Motor run.
+ * Call Pause() or Stop() to pause or end the CreaMot run.
* @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE.
*/
void RunInfinite (bool AClockWise);
- /** High Level: Pause a motor Run.
- * Put Motor into Pause state, Run is suspended, but only effective if Status.cmd=MOTOR_run.
+ /** High Level: Pause a CreaMot Run.
+ * Put CreaMot into Pause state, Run is suspended, but only effective if Status.cmd=MOTOR_run.
* Retains the number of steps that remain to be run if restarting run.
* While paused: still uses ticker; State: Motor_RUN; cmd=MOTOR_pause.
* Use RestartRun(); to continue. */
@@ -320,19 +334,12 @@
public: // All the ticker timing related parameters
- /** MidLevel: Get Motor status
- *
- * Gets the Status of the different internal mechanisms.
- * See documentation of MotStatus Structure.
- * @return MotStatus The structure of Motor status registers. */
- MotStatus getStatus();
-
/** MidLevel: Get number of Steps per Full turn
* Defaults to MOTOR_STEPS_FOR_A_TURN = 4096.
* Used by RunDegrees() to translate from angle in degrees to number of steps.
* Old Name was: getCalibration, but that was not a good explicit name.
- * @return int32_t The structure of Motor status registers. */
+ * @return int32_t The structure of CreaMot status registers. */
int32_t getStepsFullTurn();
/** MidLevel: Set number of Steps per Full turn.
@@ -340,50 +347,60 @@
* Defaults is MOTOR_STEPS_FOR_A_TURN = 4096.
* Used by RunDegrees() to translate from degrees to number of steps.
* Old Name was: setCalibration, but not good explicit name.
- * @param <StepsFullTurn> Number of steps needed to complete a full motor turn
+ * @param <StepsFullTurn> Number of steps needed to complete a full CreaMot turn
*/
void setStepsFullTurn(int32_t StepsFullTurn);
- /** Mid Level: Get the Motor step time.
+ /** Mid Level: Get the CreaMot step time.
- * Step time is time between two Motor steps, and is given in microseconds
+ * Step time is time between two CreaMot steps, and is given in microseconds
* and is passed to the ticker as delay time.
- * So the larger the value the slower the motor speed.
+ * So the larger the value the slower the CreaMot speed.
* Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000.
- * @return uint32_t The structure of Motor status registers.
+ * @return uint32_t The structure of CreaMot status registers.
*/
- uint32_t getStepTime_us;
+ uint32_t getStepTime_us();
- /** Set the time in microseconds between two Motor steps.
+ /** Set the time in microseconds between two CreaMot steps.
* Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000usec.
* Filters values below Minimum Value = 700.
* Passed to the ticker as delay time.
* Can be called while ticker is running, and takes immediate effect.
* Was previously called setStepTime(), but was not clear which units.
- * @param <AStepTime_us> the time in microseconds between two Motor steps
+ * @param <AStepTime_us> the time in microseconds between two CreaMot steps
*/
void setStepTime_us(uint32_t AStepTime_us);
/** Set the time in seconds to get one full turn, rotation of 360°.
* was previously called setSpeed().
- * @param <Seconds_Per_Turn> Period of Rotation, e.g. if =20.0 then Motor will do 360° in 20 seconds.
+ * @param <Seconds_Per_Turn> Period of Rotation, e.g. if =20.0 then CreaMot will do 360° in 20 seconds.
*/
void setRotationPeriodSec(float Seconds_Per_Turn) ;
private:
- // all the Ticker and Timing procedures, used to run the Motor for a duration
+ // all the Ticker and Timing procedures, used to run the CreaMot for a duration
void StartTick();
void ProcessMotorStateMachine();
// The call back function pointer that is called when the Processor
// State Machine reaches its end.
Callback<void()> _callback;
void StopTick();
- MotStatus Status;
- timestamp_t StepTime_us; // Time in µs for one Motor step
- Ticker MotorSysTick; // System Timer for Motor
+ timestamp_t StepTime_us; // Time in µs for one CreaMot step
+ Ticker MotorSysTick; // System Timer for CreaMot
int32_t Steps_FullTurn; // Number of step for a complete turn
-
-public: // all the low level direct Motor HW access, States are immediately reached
+ bool ClockWise; /**< Direction that the CreaMot is asked to run. True if Clockwise */
+ int32_t NStepsToDo; /**< Number of steps remain for the CreaMot to run.
+ NSteps=0: all steps finished; NSteps<0: indicates to run "forever" */
+ bool TickIsAttached; /**< Indicates if Ticker is attached.
+ Ticker is automatically attached while CreaMot runs, or paused;
+ detaches when finished a run, or stopped. */
+
+public: // all the low level direct CreaMot HW access, States are immediately reached
+ motStates CurrState; /**< General state that the CreaMot state machine is in.*/
+ motCmands CurrCmd; /**< Command asked to be executed currently by the state machine.*/
+ void setStatus(motCmands aCmd, bool AClockWise, int32_t aNSteps);
+ /**< Helper; set Command, Direction and NSteps in one call. */
+
/** Low Level: Run one full turn clockwise then anticlockwise.
* After: State: Motor_OFF.
@@ -391,41 +408,40 @@
*/
void MotorTest();
- /** Low Level: turn off all Motor Phases
+ /** Low Level: turn off all CreaMot Phases
* No more current flows, reduces holding force.
* After: State: Motor_OFF.
* StepPhases memorizes the last used phase.
* Equivalent what previously the function "void Stop();" did . */
void MotorOFF();
- /** Low Level: turn on the Motor Phases in the last used phase.
+ /** Low Level: turn on the CreaMot Phases in the last used phase.
* The last used phase is held in StepPhases.
* After: State: Motor_ON, or Motor_ZERO if StepPhases==0
* Equivalent to what previously the function "void Start();" did. */
void MotorON();
- /** Low Level: Advance Motor one step, rotates in direction of variable AClockWise. */
+ /** Low Level: Advance CreaMot one step, rotates in direction of variable AClockWise. */
void StepOnce();
- /** Low Level: Advance Motor one step, rotates CounterClockwise. */
+ /** Low Level: Advance CreaMot one step, rotates CounterClockwise. */
void StepCCW();
- /** Low Level: Advance Motor one step, rotates Clockwise. */
+ /** Low Level: Advance CreaMot one step, rotates Clockwise. */
void StepClkW();
- /** Low Level: turn on the Motor Phases in Zero Position.
+ /** Low Level: turn on the CreaMot Phases in Zero Position.
* After: State: Motor_ZERO, StepPhases==0
*/
void MotorZero();
-
private:
- /** Low Level: Engage Motor Phases according to MotorIndex. */
+ /** Low Level: Engage CreaMot Phases according to MotorIndex. */
void SetPhases();
DigitalOut *MPh[4]; // Digital outputs, one per phase
- int StepPhase; // Motor Phase Variable, counts up and down with every step
+ int StepPhase; // CreaMot Phase Variable, counts up and down with every step
};
#endif