With calibration routine and driving method
Fork of Stepper_Motor_X27168 by
Stepper_Motor_X27168.cpp
00001 #include "StepperMotor_X27168.h" 00002 00003 StepperMotor_X27168::StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r) 00004 :motor_control(A_f, A_r, B_f, B_r) 00005 { 00006 motor_control = 0x0; 00007 max_position = MAX_POS; 00008 speed = DEFAULT_SPEED; 00009 cur_state = STOP_MOTOR; 00010 cur_position = 0; 00011 } 00012 00013 StepperMotor_X27168::StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int init_step_position) 00014 :motor_control(A_f, A_r, B_f, B_r) 00015 { 00016 StepperMotor_X27168(A_f, A_r, B_f, B_r); 00017 step_position(init_step_position); 00018 } 00019 00020 void StepperMotor_X27168::set_speed(float s) { 00021 speed = s; 00022 } 00023 00024 int StepperMotor_X27168::get_speed() { 00025 return speed; 00026 } 00027 00028 void StepperMotor_X27168::set_max_position(int p) { 00029 if(p<MAX_POS) { 00030 max_position = p; 00031 } 00032 } 00033 00034 int StepperMotor_X27168::get_max_position() { 00035 return max_position; 00036 } 00037 00038 int StepperMotor_X27168::step(int dir) { 00039 if(dir==2) 00040 cur_state = STOP_MOTOR; 00041 else if(dir == 0) { 00042 cur_state = (Polarity)((cur_state+1)%4); 00043 00044 if(cur_position <= MAX_POS) { 00045 cur_position++; 00046 } 00047 } 00048 else if (dir == 1) { 00049 cur_state = (Polarity)((cur_state-1)%4); 00050 cur_state = (Polarity)(cur_state == 255 ? cur_state + 4 : cur_state); 00051 00052 if(cur_position>= 0) { 00053 cur_position--; 00054 } 00055 } 00056 else 00057 return -1; 00058 00059 switch (cur_state) { //improve 2 phase drive method. Original method commented out 00060 case 0: 00061 motor_control = 0x9;//0x1; 00062 break; 00063 case 1: 00064 motor_control = 0x5;//0x4; 00065 break; 00066 case 2: 00067 motor_control = 0x6;//0x2; 00068 break; 00069 case 3: 00070 motor_control = 0xA;//0x8; 00071 break; 00072 case 4: 00073 motor_control = 0x0; 00074 break; 00075 } 00076 wait(1.0/speed); 00077 return cur_position; 00078 } 00079 00080 void StepperMotor_X27168::step_position(int pos) { 00081 if(pos > max_position) 00082 pos = max_position; 00083 else if(pos < 0) 00084 pos = 0; 00085 00086 while(cur_position < pos) { 00087 step(0); 00088 } 00089 while(cur_position > pos) { 00090 step(1); 00091 } 00092 00093 step(2); 00094 } 00095 00096 void StepperMotor_X27168::angle_position(float angle) { 00097 step_position(int(angle*2)); 00098 } 00099 00100 void StepperMotor_X27168::init() 00101 { 00102 set_speed(400); //if too fast(>400) the motor will slip and go weird 00103 00104 step_position(MAX_POS); //sweep to MAX position 00105 wait(0.5); 00106 00107 step_position(0); //sweep to zero position 00108 wait(0.5); 00109 }
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