StepperMotor_X27168.h

00001 /** Stepper Motor control library
00002  *  
00003  *  @class   StepperMotor_X27168
00004  *  @author  Aditya Garg, Nisarg Himani
00005  *  @version 1.0 (Oct-19-2015)
00006  *  
00007  *  This is the driver for Automotive Gauge Stepper Motor X27168
00008  *  
00009  *  ----------------------IMPORTANT--------------------
00010  *  The API assumes motor is postioned at zero as there
00011  *  is no way to detect or control that in software
00012  *  ---------------------------------------------------
00013  */
00014 
00015 #ifndef MBED_STEPPER_MOTOR_X27168
00016 #define MBED_STEPPER_MOTOR_X27168
00017 
00018 #include "mbed.h"
00019 
00020 #define MAX_POS         629         // Maximum Steps Possible (not degrees)
00021 #define DEFAULT_SPEED   500         // Default Speed in Steps per second
00022 
00023 /** Stepper Motor control class
00024  *
00025  *  Example:
00026  *  @code
00027  *  #include "mbed.h"
00028  *  #include "StepperMotor_X27168.h"
00029  *
00030  *  StepperMotor_X27168 smotor(p25, p26, p23, p22);
00031  *  
00032  *  int main() {
00033  *  
00034  *      smotor.step_position(180);
00035  *      wait(0.5);
00036  *      
00037  *      smotor.step_position(100);
00038  *      wait(0.5);
00039  *      
00040  *      smotor.angle_position(270);
00041  *      wait(0.5);
00042  *      
00043  *      smotor.step_position(0);
00044  *      wait(0.5);
00045  *  }
00046  *  @endcode
00047  */
00048 
00049 class StepperMotor_X27168 {
00050 
00051 public:
00052 
00053     /** Constants for motor rotate control */
00054     typedef enum  {
00055         COIL_A_FOR = 0,         // Forward Polarity in H-Bright Port A
00056         COIL_B_FOR = 1,         // Forward Polarity in H-Bright Port B
00057         COIL_A_REV = 2,         // Reverse Polarity in H-Bright Port A
00058         COIL_B_REV = 3,         // Reverse Polarity in H-Bright Port B
00059         STOP_MOTOR = 4,         // Turn Off Both Coils
00060     } Polarity;
00061     
00062     /** Create a stepper motor object connected to specified DigitalOut pins
00063      *
00064      *  @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1)
00065      *  @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2)
00066      *  @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1)
00067      *  @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2)
00068      */
00069     StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r);
00070     
00071     /** Create a stepper motor object connected to specified DigitalOut pins
00072      *  starting at specified position
00073      *
00074      *  @param A_f DigitalOut pin for Forward Control of H-Brigde Port A (AIN1)
00075      *  @param A_r DigitalOut pin for Reverse Control of H-Brigde Port A (AIN2)
00076      *  @param B_f DigitalOut pin for Forward Control of H-Brigde Port B (BIN1)
00077      *  @param B_r DigitalOut pin for Reverse Control of H-Brigde Port B (BIN2)
00078      *  @param init_step_position Rotate of given initial step position
00079      */
00080     StepperMotor_X27168(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int init_step_position);
00081     
00082     /** Set the motor speed (i.e. number of steps per second)
00083      *  Motor will malfuntion is speed is faster than the
00084      *  the maximum capability if the motor.
00085      *
00086      *  @param s steps per second : lower number makes the turn slower (default = 1000)
00087      */
00088     void set_speed(float s);
00089     
00090     /** Get the motor speed (i.e. number of steps per second)
00091      *
00092      *  @return steps per second
00093      */
00094     int get_speed();
00095     
00096     /** Set the maximum steps the motor should take (not degrees)
00097      *
00098      *  @param p maximum_steps :(ignored if parameter is greater than 629, the physical limit of the motor)
00099      */
00100     void set_max_position(int p);
00101     
00102     /** Get the motor maximum position (int steps not degress)
00103      *
00104      *  @return maximum position
00105      */
00106     int get_max_position();
00107     
00108     /** Turn the motor one step (1/2 Degree)
00109      *
00110      *  @param dir 0 CLOCKWISE/FORWARD
00111      *             1 ANTI-CLOCKWISE/REVERSE
00112      *             2 STOP
00113      *
00114      *  @return current_position of the motor
00115      */            
00116     int step(int dir);
00117     
00118     /** Turn the motor to a specific step 
00119      *
00120      *  @param pos desired position in steps (0-max_position)
00121      */      
00122     void step_position(int pos);
00123     
00124     /** Turn the motor to a specific degree angle with a resolution of 0.5 degrees
00125      *
00126      *  @param angle desired angle (0-(max_positon/2))
00127      */
00128     void angle_position(float angle);
00129     
00130     /** Initialize the motor by rotating CW for full range and CCW for full range
00131      */
00132     void init();
00133     
00134 private:
00135     BusOut motor_control;       // 4-bit Bus Controlling the H-Brigde
00136     int max_position;           // Software Limit to motor rotation
00137     int speed;                  // Speed of Rotation
00138     int cur_position;           // Current Position of Motor (0-max_position)
00139     Polarity cur_state;         // Current State of H-Brige Controls
00140 };
00141 #endif