My Version of the Crealab MotorLib.
Fork of MotorLib by
Diff: motor.h
- Revision:
- 24:932ea7bdc850
- Parent:
- 23:6060422cd6eb
--- a/motor.h Wed Apr 17 21:48:14 2019 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,447 +0,0 @@ -/** - * @file CreaMot.h - * \brief File contains Crealab CreaMot Library. - - * 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 @@. - - * @author Tarek Lule, Francois Druilhe, et al. - * @date 01. Nov. 2018. - * @see https://os.mbed.com/users/sepp_nepp/code/MotorLib/ */ - - // -------------------- CreaMot --------------------------- - -#ifndef MOTOR_H -#define MOTOR_H - -#include "mbed.h" - -#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 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 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, /**< 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 CreaMot state machine -* -* 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. -* -* MOTOR_restart is equivalent to and replaced by MOTOR_run. -*/ -typedef enum { - MOTOR_nop = 0, /**< No active command to execute. */ - 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; - -/** ATTENTION UNDER CONSTRUCTION, DO NOT YET USE. -* -* Class of a Four Phase Stepper CreaMot. -* -* 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. -* -* 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 -* -* 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 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. -* -* NB: all times are uint32_t, step numbers are int32_t -*/ -class CreaMot -{ -public: - /** 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. - * Pin names are used to create digital outputs: Pin0 = new DigitalOut(_MPh0) - * - @code - PinName MotPhases[] = {PB_1, PB_15, PB_14, PB_13}; - CreaMot MotorName(MotPhases); // Call this creator for example like this: - @endcode - * - * @param _MPh Array of Names of the 4 Digital Pins of type PinNames - */ - CreaMot(PinName _MPh[4] ); - - /** 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. - * Pin names are used to create digital outputs: Pin0 = new DigitalOut(_MPh0) - * - @code - // Call this creator for example like this: - 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 - */ - CreaMot(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3); - - /** CreaMot Class Creator - * - * Creates the class, initiallizes all fields, creates Phase Pins. - * Time between two steps is passed as parameter. - * Pin names are used to create digital outputs: Pin0 = new DigitalOut(_MPh0) - * - @code - // Call this creator for example like this: - 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> the time in usec between two steps, thats used initially. - */ - 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); - void initialization(PinName _MPh[4], uint32_t AStepTime_us); - -public: - /** Attach a basic Callback function. - * - * 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() - * - @code - // Simple callback function, state variable endMove can be polled elsewhere - void CallBackFunction() - { endMove=true; } - - // main routine - void main() - { ... - // Attach callback function: - MotorInstance->callbackSet(CallBackFunction); - ... - while (true) { - .... - if (endMove) // poll the endMove flag - { ... } // react to Movement End - - .... - } - } - @endcode - * @param <*CBfunction> Callback function, must not be member of a class. - - */ - void callbackSet(void (*CBfunction)(void)) {_callback = CBfunction;}; - - - /** Attach a Callback function, member of a class. - * Only called when a Run 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. - * @param <*object> Class pointer which possesses callback member. - * @param <*CBmember> Pointer to callback function, member of Class. - * - @code - // Class Creator: - AClass::AClass(Class Creation Parameters) - { ... - // Attach callback function: - MotorInstance->setMotorCallback(this, &AClass::CallBackMemberFunction); - ... - } - - // Simple callback function, state variable endMove can be polled by main thread - void AClass::CallBackMemberFunction() - { endMove=true; } - @endcode - */ - template<typename T> - void callbackSet(T *object, void (T::*CBmember)(void)) { - _callback = callback(object,CBmember); - } - - /** Remove the Callback function that may have been attached previously. */ - void callbackRemove() { _callback = NULL; }; - -public: - // ********************************************************************* - // all following functions use wheel diameter to achieve cm distance - // ********************************************************************* - - /** High Level: Run CreaMot for a given number of centimeters. - * - * 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] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE. - * @param[in] <Dist_cm> Circumference to rotate for, in cm, Dist_cm<0 are run in opposite direction. - */ - void RunDist_cm (bool AClockWise, float Dist_cm); - - /** 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 CreaMot speed in centimeter/sec, based on perimeter in cm */ - void setSpeed_cm_sec(float speed_cm_sec); - - - /** Calculated wheel Angle from calcAngle() Helper function */ - float rotate_angle_deg; - - /** Additional geometric information: wheel diameter in centimeter */ - float diam_cm; - - /** Additional geometric information: wheel perimeter in centimeter */ - float perim_cm; - - /** Additional geometric information: rotation angle in degrees per cm circumference */ - float degree_per_cm; - - /** Default rotation direction that serves as local storage, but not as actual direction */ - 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 CreaMot. - */ - char StateValue; - -public: - // ***************************************************************** - // following functions are agnostic of wheel dimensions in centimeters - // ***************************************************************** - - /** High Level: Run CreaMot for a given angle. - * - * 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 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. - * At the end: calls the Callback, stops ticker; State: Motor_OFF. - * @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE. - * @param[in] <Nsteps> Number of steps to run for; Nsteps<0 are run in opposite direction! - */ - void RunSteps (bool AClockWise, int32_t Nsteps); - - /** High Level: Run CreaMot "unlimited" - * - * 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 CreaMot run. - * @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE. - */ - void RunInfinite (bool AClockWise); - - /** 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. */ - void PauseRun(); - - /** High Level: Restart a Paused Run. - * Restart the Run that was launched before calling PuaseRun. - * Only effective if Status.cmd=MOTOR_pause, otherwise no re/action. - * Status afterwards is same as afterRun commands. */ - void RestartRun(); - - /** High Level: End any Run. - * Force stop of any ongoing run, but does not call the Callback function. - * Only effective if Status.cmd=MOTOR_run, otherwise no re/action. - * Emits first cmd=MOTOR_stop then cmd=MOTOR_nop. - * Aftewards: ticker is detached; State: Motor_OFF; */ - void StopRun(); - -public: // All the ticker timing related parameters - - /** 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 CreaMot status registers. */ - int32_t getStepsFullTurn(); - - /** MidLevel: Set number of Steps per Full turn. - - * 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 CreaMot turn - */ - void setStepsFullTurn(int32_t StepsFullTurn); - - /** Mid Level: Get the CreaMot step time. - - * 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 CreaMot speed. - * Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000. - * @return uint32_t The structure of CreaMot status registers. - */ - uint32_t getStepTime_us(); - - /** 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 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 CreaMot will do 360° in 20 seconds. - */ - void setRotationPeriodSec(float Seconds_Per_Turn) ; - -private: - // 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(); - 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 - 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. - * Blocking function, returns back only after end of full movement. - */ - void MotorTest(); - - /** 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 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 CreaMot one step, rotates in direction of variable AClockWise. */ - void StepOnce(); - - /** Low Level: Advance CreaMot one step, rotates CounterClockwise. */ - void StepCCW(); - - /** Low Level: Advance CreaMot one step, rotates Clockwise. */ - void StepClkW(); - - /** Low Level: turn on the CreaMot Phases in Zero Position. - * After: State: Motor_ZERO, StepPhases==0 - */ - void MotorZero(); - -private: - - /** Low Level: Engage CreaMot Phases according to MotorIndex. */ - void SetPhases(); - - DigitalOut *MPh[4]; // Digital outputs, one per phase - int StepPhase; // CreaMot Phase Variable, counts up and down with every step -}; - -#endif