Библиотека для работы с шаговым двигателем
Dependents: Delta_Robot_2018 Speed_Control
Diff: AccelStepper.h
- Revision:
- 0:deef8c36d17a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AccelStepper.h Mon May 07 11:39:53 2018 +0000 @@ -0,0 +1,680 @@ +// AccelStepper.h +// +/// \mainpage AccelStepper library for MBED +/// +/// This is the MBED AccelStepper library. +/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors. +/// Based on the Arduino AccelStepper library by Airspayce.com +/// Translated for MBED by Jaap Vermaas <jaap@tuxic.nl>, 03-2015 +/// +/// The standard Arduino IDE includes the Stepper library +/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is +/// perfectly adequate for simple, single motor applications. +/// +/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways: +/// \li Supports acceleration and deceleration +/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper +/// \li API functions never delay() or block +/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers. +/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library) +/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip) +/// \li Very slow speeds are supported +/// \li Extensive API +/// \li Subclass support +/// +/// The latest version of this documentation can be downloaded from +/// http://www.airspayce.com/mikem/arduino/AccelStepper +/// The version of the package that this documentation refers to can be downloaded +/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.47.zip +/// +/// Example Arduino programs are included to show the main modes of use. +/// +/// You can also find online help and discussion at http://groups.google.com/group/accelstepper +/// Please use that group for all questions and discussions on this topic. +/// Do not contact the author directly, unless it is to discuss commercial licensing. +/// Before asking a question or reporting a bug, please read http://www.catb.org/esr/faqs/smart-questions.html +/// +/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 +/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, +/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. +/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with +/// teensyduino addon 1.18 and later. +/// +/// \par Installation +/// +/// Install in the usual way: unzip the distribution zip file to the libraries +/// sub-folder of your sketchbook. +/// +/// \par Theory +/// +/// This code uses speed calculations as described in +/// "Generate stepper-motor speed profiles in real time" by David Austin +/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf +/// with the exception that AccelStepper uses steps per second rather than radians per second +/// (because we dont know the step angle of the motor) +/// An initial step interval is calculated for the first step, based on the desired acceleration +/// On subsequent steps, shorter step intervals are calculated based +/// on the previous step until max speed is achieved. +/// +/// \par Donations +/// +/// This library is offered under a free GPL license for those who want to use it that way. +/// We try hard to keep it up to date, fix bugs +/// and to provide free support. If this library has helped you save time or money, please consider donating at +/// http://www.airspayce.com or here: +/// +/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly +/// +/// \par Trademarks +/// +/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for +/// international trade, and is used only in relation to motor control hardware and software. +/// It is not to be confused with any other similar marks covering other goods and services. +/// +/// \par Copyright +/// +/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license +/// conditions. The main licensing options available are GPL V2 or Commercial: +/// +/// \par Open Source Licensing GPL V2 +/// This is the appropriate option if you want to share the source code of your +/// application with everyone you distribute it to, and you also want to give them +/// the right to share who uses it. If you wish to use this software under Open +/// Source Licensing, you must contribute all your source code to the open source +/// community in accordance with the GPL Version 2 when your application is +/// distributed. See http://www.gnu.org/copyleft/gpl.html +/// +/// \par Commercial Licensing +/// This is the appropriate option if you are creating proprietary applications +/// and you are not prepared to distribute and share the source code of your +/// application. Contact info@airspayce.com for details. +/// +/// \par Revision History +/// \version 1.0 Initial release +/// +/// \version 1.1 Added speed() function to get the current speed. +/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt. +/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1 +/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches. +/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements +/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width. +/// Added checks for already running at max speed and skip further calcs if so. +/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. +/// Reported by Sandy Noble. +/// Removed redundant _lastRunTime member. +/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected. +/// Reported by Peter Linhart. +/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon +/// \version 1.9 setCurrentPosition() now also sets motor speed to 0. +/// \version 1.10 Builds on Arduino 1.0 +/// \version 1.11 Improvments from Michael Ellison: +/// Added optional enable line support for stepper drivers +/// Added inversion for step/direction/enable lines for stepper drivers +/// \version 1.12 Announce Google Group +/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, +/// and more or less constant in all cases. This should result in slightly beter high speed performance, and +/// reduce anomalous speed glitches when other steppers are accelerating. +/// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed. +/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan +/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle +/// running backwards to a smaller target position. Added examples +/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs(). +/// \version 1.17 Added example ProportionalControl +/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps +/// without counting. reported by Friedrich, Klappenbach. +/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use +/// for the motor interface. Updated examples to suit. +/// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4]. +/// _pins member changed to _interface. +/// Added _pinInverted array to simplify pin inversion operations. +/// Added new function setOutputPins() which sets the motor output pins. +/// It can be overridden in order to provide, say, serial output instead of parallel output +/// Some refactoring and code size reduction. +/// \version 1.20 Improved documentation and examples to show need for correctly +/// specifying AccelStepper::FULL4WIRE and friends. +/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration +/// when _speed was small but non-zero. Reported by Brian Schmalz. +/// Precompute sqrt_twoa to improve performance and max possible stepping speed +/// \version 1.22 Added Bounce.pde example +/// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more +/// frequently than the step time, even +/// with the same values, would interfere with speed calcs. Now a new speed is computed +/// only if there was a change in the set value. Reported by Brian Schmalz. +/// \version 1.23 Rewrite of the speed algorithms in line with +/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf +/// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed() +/// function was removed. +/// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned +/// \version 1.25 Now ignore attempts to set acceleration to 0.0 +/// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause +/// oscillation about the target position. +/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters. +/// Also added new Quickstop example showing its use. +/// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause +/// oscillation about the target position. +/// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle. +/// Contributed by Yuri Ivatchkovitch. +/// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step +/// with some sketches. Reported by Vadim. +/// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of +/// accelerated travel with certain speeds. Reported and patched by jolo. +/// \version 1.31 Updated author and distribution location details to airspayce.com +/// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that +/// prevented the enable pin changing stae correctly. Reported by Duane Bishop. +/// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed(); +/// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE. +/// Unfortunately this meant changing the signature for all step*() functions. +/// Added example MotorShield, showing how to use AdaFruit Motor Shield to control +/// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library. +/// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) +/// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg. +/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with +/// setPinsInverted(bool, bool, bool). Reported by Mac Mac. +/// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden. +/// Added new optional argument 'enable' to constructor, which allows you toi disable the +/// automatic enabling of outputs at construction time. Suggested by Guido. +/// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the +/// wrong direction (or not, +/// depending on the setup-time requirements of the connected hardware). +/// Reported by Mark Tillotson. +/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true +/// if the motor is still running to the target position. +/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill. +/// \version 1.40 Updated documentation, including testing on Teensy 3.1 +/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value +/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original +/// contribution but did not make it into production.<br> +/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the +/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br> +/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde +/// was missing from the distribution.<br> +/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default +/// acceleration. Reported by Michael Newman.<br> +/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br> +/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br> +/// \version 1.46 Fixed error in documentation for runToPosition(). +/// Reinstated time calculations in runSpeed() since new version is reported +/// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br> + +/// +/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS +// Copyright (C) 2009-2013 Mike McCauley +// $Id: AccelStepper.h,v 1.21 2014/10/31 06:05:30 mikem Exp mikem $ + +#ifndef AccelStepper_h +#define AccelStepper_h + +#include <stdlib.h> +#include <mbed.h> +#define max(a,b) (((a) > (b)) ? (a) : (b)) +#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) +#define LOW false +#define HIGH true +//#if ARDUINO >= 100 +//#include <Arduino.h> +//#else +//#include <WProgram.h> +//#include <wiring.h> +//#endif + +// These defs cause trouble on some versions of Arduino +#undef round + +///////////////////////////////////////////////////////////////////// +/// \class AccelStepper AccelStepper.h <AccelStepper.h> +/// \brief Support for stepper motors with acceleration etc. +/// +/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional +/// acceleration, deceleration, absolute positioning commands etc. Multiple +/// simultaneous steppers are supported, all moving +/// at different speeds and accelerations. +/// +/// \par Operation +/// This module operates by computing a step time in microseconds. The step +/// time is recomputed after each step and after speed and acceleration +/// parameters are changed by the caller. The time of each step is recorded in +/// microseconds. The run() function steps the motor once if a new step is due. +/// The run() function must be called frequently until the motor is in the +/// desired position, after which time run() will do nothing. +/// +/// \par Positioning +/// Positions are specified by a signed long integer. At +/// construction time, the current position of the motor is consider to be 0. Positive +/// positions are clockwise from the initial position; negative positions are +/// anticlockwise. The current position can be altered for instance after +/// initialization positioning. +/// +/// \par Caveats +/// This is an open loop controller: If the motor stalls or is oversped, +/// AccelStepper will not have a correct +/// idea of where the motor really is (since there is no feedback of the motor's +/// real position. We only know where we _think_ it is, relative to the +/// initial starting point). +/// +/// \par Performance +/// The fastest motor speed that can be reliably supported is about 4000 steps per +/// second at a clock frequency of 16 MHz on Arduino such as Uno etc. +/// Faster processors can support faster stepping speeds. +/// However, any speed less than that +/// down to very slow speeds (much less than one per second) are also supported, +/// provided the run() function is called frequently enough to step the motor +/// whenever required for the speed set. +/// Calling setAcceleration() is expensive, +/// since it requires a square root to be calculated. +class AccelStepper +{ +public: + /// \brief Symbolic names for number of pins. + /// Use this in the pins argument the AccelStepper constructor to + /// provide a symbolic name for the number of pins + /// to use. + typedef enum + { + FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only) + DRIVER = 1, ///< Stepper Driver, 2 driver pins required + FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required + FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required + FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required + HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required + HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required + } MotorInterfaceType; + + /// Constructor. You can have multiple simultaneous steppers, all moving + /// at different speeds and accelerations, provided you call their run() + /// functions at frequent enough intervals. Current Position is set to 0, target + /// position is set to 0. MaxSpeed and Acceleration default to 1.0. + /// The motor pins will be initialised to OUTPUT mode during the + /// constructor by a call to enableOutputs(). + /// \param[in] interface Number of pins to interface to. 1, 2, 4 or 8 are + /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names. + /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins). + /// If an enable line is also needed, call setEnablePin() after construction. + /// You may also invert the pins using setPinsInverted(). + /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). + /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). + /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). + /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) + /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required) + /// Defaults to AccelStepper::FULL4WIRE (4) pins. + /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults + /// to pin 2. For a AccelStepper::DRIVER (interface==1), + /// this is the Step input to the driver. Low to high transition means to step) + /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults + /// to pin 3. For a AccelStepper::DRIVER (interface==1), + /// this is the Direction input the driver. High means forward. + /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults + /// to pin 4. + /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults + /// to pin 5. + /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable + /// the output pins at construction time. + // AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true); + AccelStepper(uint8_t interface, PinName pin1 = LED1, PinName pin2 = LED2, PinName pin3 = LED3, PinName pin4 = LED4, bool enable = true); + + /// Alternate Constructor which will call your own functions for forward and backward steps. + /// You can have multiple simultaneous steppers, all moving + /// at different speeds and accelerations, provided you call their run() + /// functions at frequent enough intervals. Current Position is set to 0, target + /// position is set to 0. MaxSpeed and Acceleration default to 1.0. + /// Any motor initialization should happen before hand, no pins are used or initialized. + /// \param[in] forward void-returning procedure that will make a forward step + /// \param[in] backward void-returning procedure that will make a backward step + AccelStepper(void (*forward)(), void (*backward)()); + + /// Set the target position. The run() function will try to move the motor (at most one step per call) + /// from the current position to the target position set by the most + /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step. + /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo(). + /// \param[in] absolute The desired absolute position. Negative is + /// anticlockwise from the 0 position. + void moveTo(long absolute); + + /// Set the target position relative to the current position + /// \param[in] relative The desired position relative to the current position. Negative is + /// anticlockwise from the current position. + void move(long relative); + + /// Poll the motor and step it if a step is due, implementing + /// accelerations and decelerations to acheive the target position. You must call this as + /// frequently as possible, but at least once per minimum step time interval, + /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due, + /// based on the current speed and the time since the last step. + /// \return true if the motor is still running to the target position. + bool run(); + + /// Poll the motor and step it if a step is due, implementing a constant + /// speed as set by the most recent call to setSpeed(). You must call this as + /// frequently as possible, but at least once per step interval, + /// \return true if the motor was stepped. + bool runSpeed(); + + /// Sets the maximum permitted speed. The run() function will accelerate + /// up to the speed set by this function. + /// Caution: the maximum speed achievable depends on your processor and clock speed. + /// \param[in] speed The desired maximum speed in steps per second. Must + /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may + /// Result in non-linear accelerations and decelerations. + void setMaxSpeed(float speed); + + /// Sets the acceleration/deceleration rate. + /// \param[in] acceleration The desired acceleration in steps per second + /// per second. Must be > 0.0. This is an expensive call since it requires a square + /// root to be calculated. Dont call more ofthen than needed + void setAcceleration(float acceleration); + + /// Sets the desired constant speed for use with runSpeed(). + /// \param[in] speed The desired constant speed in steps per + /// second. Positive is clockwise. Speeds of more than 1000 steps per + /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for + /// once per hour, approximately. Speed accuracy depends on the Arduino + /// crystal. Jitter depends on how frequently you call the runSpeed() function. + void setSpeed(float speed); + + /// The most recently set speed + /// \return the most recent speed in steps per second + float speed(); + + /// The distance from the current position to the target position. + /// \return the distance from the current position to the target position + /// in steps. Positive is clockwise from the current position. + long distanceToGo(); + + /// The most recently set target position. + /// \return the target position + /// in steps. Positive is clockwise from the 0 position. + long targetPosition(); + + /// The currently motor position. + /// \return the current motor position + /// in steps. Positive is clockwise from the 0 position. + long currentPosition(); + + /// Resets the current position of the motor, so that wherever the motor + /// happens to be right now is considered to be the new 0 position. Useful + /// for setting a zero position on a stepper after an initial hardware + /// positioning move. + /// Has the side effect of setting the current motor speed to 0. + /// \param[in] position The position in steps of wherever the motor + /// happens to be right now. + void setCurrentPosition(long position); + + /// Moves the motor (with acceleration/deceleration) + /// to the target position and blocks until it is at + /// position. Dont use this in event loops, since it blocks. + void runToPosition(); + + /// Runs at the currently selected speed until the target position is reached + /// Does not implement accelerations. + /// \return true if it stepped + bool runSpeedToPosition(); + + /// Moves the motor (with acceleration/deceleration) + /// to the new target position and blocks until it is at + /// position. Dont use this in event loops, since it blocks. + /// \param[in] position The new target position. + void runToNewPosition(long position); + + /// Sets a new target position that causes the stepper + /// to stop as quickly as possible, using the current speed and acceleration parameters. + void stop(); + + /// Disable motor pin outputs by setting them all LOW + /// Depending on the design of your electronics this may turn off + /// the power to the motor coils, saving power. + /// This is useful to support Arduino low power modes: disable the outputs + /// during sleep and then reenable with enableOutputs() before stepping + /// again. + virtual void disableOutputs(); + + /// Enable motor pin outputs by setting the motor pins to OUTPUT + /// mode. Called automatically by the constructor. + virtual void enableOutputs(); + + /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is + /// approximately 20 microseconds. Times less than 20 microseconds + /// will usually result in 20 microseconds or so. + /// \param[in] minWidth The minimum pulse width in microseconds. + void setMinPulseWidth(unsigned int minWidth); + + /// Sets the enable pin number for stepper drivers. + /// 0xFF indicates unused (default). + /// Otherwise, if a pin is set, the pin will be turned on when + /// enableOutputs() is called and switched off when disableOutputs() + /// is called. + /// \param[in] enablePin Arduino digital pin number for motor enable + /// \sa setPinsInverted + void setEnablePin(PinName enablePin); + + /// Sets the inversion for stepper driver pins + /// \param[in] directionInvert True for inverted direction pin, false for non-inverted + /// \param[in] stepInvert True for inverted step pin, false for non-inverted + /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted + void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false); + + /// Sets the inversion for 2, 3 and 4 wire stepper pins + /// \param[in] pin1Invert True for inverted pin1, false for non-inverted + /// \param[in] pin2Invert True for inverted pin2, false for non-inverted + /// \param[in] pin3Invert True for inverted pin3, false for non-inverted + /// \param[in] pin4Invert True for inverted pin4, false for non-inverted + /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted + void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert); + +protected: + DigitalOut *_pin0; + DigitalOut *_pin1; + DigitalOut *_pin2; + DigitalOut *_pin3; + + /// \brief Direction indicator + /// Symbolic names for the direction the motor is turning + typedef enum + { + DIRECTION_CCW = 0, ///< Clockwise + DIRECTION_CW = 1 ///< Counter-Clockwise + } Direction; + + /// Forces the library to compute a new instantaneous speed and set that as + /// the current speed. It is called by + /// the library: + /// \li after each step + /// \li after change to maxSpeed through setMaxSpeed() + /// \li after change to acceleration through setAcceleration() + /// \li after change to target position (relative or absolute) through + /// move() or moveTo() + void computeNewSpeed(); + + /// Low level function to set the motor output pins + /// bit 0 of the mask corresponds to _pin[0] + /// bit 1 of the mask corresponds to _pin[1] + /// You can override this to impment, for example serial chip output insted of using the + /// output pins directly + virtual void setOutputPins(uint8_t mask); + + /// Called to execute a step. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the + /// number of pins defined for the stepper. + /// \param[in] step The current step phase number (0 to 7) + virtual void step(long step); + + /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is + /// required. Calls _forward() or _backward() to perform the step + /// \param[in] step The current step phase number (0 to 7) + virtual void step0(long step); + + /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of Step pin1 to step, + /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond + /// which is the minimum STEP pulse width for the 3967 driver. + /// \param[in] step The current step phase number (0 to 7) + virtual void step1(long step); + + /// Called to execute a step on a 2 pin motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1 and pin2 + /// \param[in] step The current step phase number (0 to 7) + virtual void step2(long step); + + /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3 + /// \param[in] step The current step phase number (0 to 7) + virtual void step3(long step); + + /// Called to execute a step on a 4 pin motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3, pin4. + /// \param[in] step The current step phase number (0 to 7) + virtual void step4(long step); + + /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3 + /// \param[in] step The current step phase number (0 to 7) + virtual void step6(long step); + + /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3, pin4. + /// \param[in] step The current step phase number (0 to 7) + virtual void step8(long step); + +private: + /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a + /// bipolar, and 4 pins is a unipolar. + uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType + + /// Arduino pin number assignments for the 2 or 4 pins required to interface to the + /// stepper motor or driver + uint8_t _pin[4]; + + /// Whether the _pins is inverted or not + uint8_t _pinInverted[4]; + + /// The current absolution position in steps. + long _currentPos; // Steps + + /// The target position in steps. The AccelStepper library will move the + /// motor from the _currentPos to the _targetPos, taking into account the + /// max speed, acceleration and deceleration + long _targetPos; // Steps + + /// The current motos speed in steps per second + /// Positive is clockwise + float _speed; // Steps per second + + /// The maximum permitted speed in steps per second. Must be > 0. + float _maxSpeed; + + /// The acceleration to use to accelerate or decelerate the motor in steps + /// per second per second. Must be > 0 + float _acceleration; + float _sqrt_twoa; // Precomputed sqrt(2*_acceleration) + + /// The current interval between steps in microseconds. + /// 0 means the motor is currently stopped with _speed == 0 + unsigned long _stepInterval; + + /// The last step time in microseconds + unsigned long _lastStepTime; + + /// The minimum allowed pulse width in microseconds + unsigned int _minPulseWidth; + + /// Is the direction pin inverted? + ///bool _dirInverted; /// Moved to _pinInverted[1] + + /// Is the step pin inverted? + ///bool _stepInverted; /// Moved to _pinInverted[0] + + /// Is the enable pin inverted? + bool _enableInverted; + + /// Enable pin for stepper driver, or 0xFF if unused. + //uint8_t _enablePin; + DigitalOut *_enablePin; + + /// The pointer to a forward-step procedure + void (*_forward)(); + + /// The pointer to a backward-step procedure + void (*_backward)(); + + /// The step counter for speed calculations + long _n; + + /// Initial step size in microseconds + float _c0; + + /// Last step size in microseconds + float _cn; + + /// Min step size in microseconds based on maxSpeed + float _cmin; // at max speed + + /// Current direction motor is spinning in + bool _direction; // 1 == CW + +}; + +/// @example Random.pde +/// Make a single stepper perform random changes in speed, position and acceleration + +/// @example Overshoot.pde +/// Check overshoot handling +/// which sets a new target position and then waits until the stepper has +/// achieved it. This is used for testing the handling of overshoots + +/// @example MultiStepper.pde +/// Shows how to multiple simultaneous steppers +/// Runs one stepper forwards and backwards, accelerating and decelerating +/// at the limits. Runs other steppers at the same time + +/// @example ConstantSpeed.pde +/// Shows how to run AccelStepper in the simplest, +/// fixed speed mode with no accelerations + +/// @example Blocking.pde +/// Shows how to use the blocking call runToNewPosition +/// Which sets a new target position and then waits until the stepper has +/// achieved it. + +/// @example AFMotor_MultiStepper.pde +/// Control both Stepper motors at the same time with different speeds +/// and accelerations. + +/// @example AFMotor_ConstantSpeed.pde +/// Shows how to run AccelStepper in the simplest, +/// fixed speed mode with no accelerations + +/// @example ProportionalControl.pde +/// Make a single stepper follow the analog value read from a pot or whatever +/// The stepper will move at a constant speed to each newly set posiiton, +/// depending on the value of the pot. + +/// @example Bounce.pde +/// Make a single stepper bounce from one limit to another, observing +/// accelrations at each end of travel + +/// @example Quickstop.pde +/// Check stop handling. +/// Calls stop() while the stepper is travelling at full speed, causing +/// the stepper to stop as quickly as possible, within the constraints of the +/// current acceleration. + +/// @example MotorShield.pde +/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor +/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html. + +/// @example DualMotorShield.pde +/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the +/// Itead Studio Arduino Dual Stepper Motor Driver Shield +/// model IM120417015 + +#endif +