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4653
Dependencies: mbed-STM32F103C8T6 mbed USBDevice_STM32F103
Diff: AccelStepper.h
- Revision:
- 3:086f8c1079ff
- Parent:
- 2:d4dad64faadb
--- a/AccelStepper.h Sat Feb 03 19:25:25 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,680 +0,0 @@ -// 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 -