Tarek Lule
My Version of the Crealab MotorLib.
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