Diff: Stepper.h

Revision:

0:f2a3b0be279d

Child:

1:a456aa3935ca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.h	Mon Apr 15 11:29:15 2013 +0000
@@ -0,0 +1,132 @@
+#ifndef STEPPER_H
+#define STEPPER_H
+
+#include "mbed.h"
+/** Stepper class.
+ *  Used for drive Stepper motor
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "Stepper.h"
+ *
+ * DigitalIn home(p20);
+ * Stepper mot(p21,p22);
+ *
+ * int main()
+ * {
+ *    mot.setSpeed(1200);
+ *    mot.setAcceleration(4000);
+ *    mot.setDeceleration(4000);
+ *
+ *    mot.rotate(CW);
+ *    while(!home);
+ *    mot.stop();
+ *    mot.setPositionZero();
+ *
+ *    mot.goesTo(1600);
+ *    while(!mot.stopped());
+ *
+ *    while(1)
+ *    {
+ *
+ *    }
+ * }
+ * @endcode
+ */
+class Stepper
+{
+public:
+    /** Create Stepper instance connected to pin clk & dir
+    * @param clk pin to connect at clk/step output
+    * @param dir pin to connect at dir output
+    */
+    Stepper(PinName clk, PinName dir);
+    
+    /** Moving the motor relative to a reference position (set by setPositionZero())
+    * @param position steps from position zero 
+    */
+    void goesTo(int position); 
+    
+    /** Moving the motor for given steps
+    * @param steps number of steps to go(>0 CW ; <0 CCW)
+    */
+    void move(int steps);
+    
+    /** Moving the motor until user stop
+    * @param direction rotation Stepper::CC or Stepper::CCW
+    */
+    void rotate(bool direction);
+    
+    /** Stop the motor as fast as possible
+    */
+    void stop(void);
+    
+    /**Set Rotation Speed
+    * @param speed [steps/sec]
+    */
+    void setSpeed(float speed);
+    
+    /**Set Acceleration ramp
+    * @param acc acceleration [steps/sec²] (0 = infinite acceleration 1st step @ max speed)
+    */
+    void setAcceleration(float acc);
+    
+    /**Set Deceleration ramp
+    * @param dec deceleration [steps/sec²] (0 = infinite deceleration last step @ max speed)
+    */
+    void setDeceleration(float dec);
+    
+    /**Give Origin for motor absolute movement
+    */
+    void setPositionZero(void);
+    
+    /**Check if motor is stopped
+    * @returns true if motor stopped
+    */  
+    bool stopped(void);
+    
+    /**Get absolute position from origin
+    * @returns position [steps] from origin set by setPositionZero()
+    */
+    int getPosition(void);
+    
+    /**Get Acceleration
+    * @returns acceleration [steps/sec²]
+    */
+    float getAcceleration(void);
+    
+    /**Get Deceleration
+    * @returns deceleration [steps/sec²]
+    */
+    float getDeceleration(void);
+    
+    /**Get Speed
+    * @returns speed [steps/sec]
+    */
+    float getSpeed(void);
+    
+    /**Enum for direction
+    *   CW=true or 1; CCW=false or 0
+    */
+    typedef enum {CW=1,CCW=0} direction;
+    
+protected:
+    void run(void);         //step generator thread
+    unsigned int nTo(float speed,float acc);
+      
+private:
+    float _acc;                         //Acceleration [step/s²]
+    float _dec;                         //Decceleration [step/s²]
+    float _spd;                         //Speed [step/s]
+    unsigned int _steps;                //nbr total of steps per mov
+    DigitalOut _clk;                    //output clock pin 
+    DigitalOut _dir;                    //output dir pin
+    Timeout _timer;                     //step timer
+    enum {STOP,ACCEL,CRUISE,DECEL}_state;  //Motor state
+    unsigned int _dt0;                  //initial delay [µs]
+    unsigned int _dtmin;                //delay minimum [µs]
+    int _pos;                           //motor position
+};
+
+#endif
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