Yuliya Smirnova
4653
Dependencies: mbed-STM32F103C8T6 mbed USBDevice_STM32F103
Revision 3:086f8c1079ff, committed 2018-05-07
- Comitter:
- yuliyasm
- Date:
- Mon May 07 11:41:10 2018 +0000
- Parent:
- 2:d4dad64faadb
- Commit message:
- 4
Changed in this revision
diff -r d4dad64faadb -r 086f8c1079ff AccelStepper.cpp
--- a/AccelStepper.cpp Sat Feb 03 19:25:25 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,651 +0,0 @@
-// AccelStepper.cpp
-//
-// Copyright (C) 2009-2013 Mike McCauley
-// $Id: AccelStepper.cpp,v 1.19 2014/10/31 06:05:27 mikem Exp mikem $
-
-#include "AccelStepper.h"
-
-#if 0
-// Some debugging assistance
-void dump(uint8_t* p, int l)
-{
- int i;
-
- for (i = 0; i < l; i++)
- {
- Serial.print(p[i], HEX);
- Serial.print(" ");
- }
- Serial.println("");
-}
-#endif
-
-void AccelStepper::moveTo(long absolute)
-{
- if (_targetPos != absolute)
- {
- _targetPos = absolute;
- computeNewSpeed();
- // compute new n?
- }
-}
-
-void AccelStepper::move(long relative)
-{
- moveTo(_currentPos + relative);
-}
-
-// Implements steps according to the current step interval
-// You must call this at least once per step
-// returns true if a step occurred
-bool AccelStepper::runSpeed()
-{
- extern Timer t;
- // Dont do anything unless we actually have a step interval
- if (!_stepInterval)
- return false;
-
- //unsigned long time = micros();
- unsigned long time = t.read_us();
- unsigned long nextStepTime = _lastStepTime + _stepInterval;
- // Gymnastics to detect wrapping of either the nextStepTime and/or the current time
- if ( ((nextStepTime >= _lastStepTime) && ((time >= nextStepTime) || (time < _lastStepTime)))
- || ((nextStepTime < _lastStepTime) && ((time >= nextStepTime) && (time < _lastStepTime))))
- {
- if (_direction == DIRECTION_CW)
- {
- // Clockwise
- _currentPos += 1;
- }
- else
- {
- // Anticlockwise
- _currentPos -= 1;
- }
- step(_currentPos);
-
- _lastStepTime = time;
- return true;
- }
- else
- {
- return false;
- }
-}
-
-long AccelStepper::distanceToGo()
-{
- return _targetPos - _currentPos;
-}
-
-long AccelStepper::targetPosition()
-{
- return _targetPos;
-}
-
-long AccelStepper::currentPosition()
-{
- return _currentPos;
-}
-
-// Useful during initialisations or after initial positioning
-// Sets speed to 0
-void AccelStepper::setCurrentPosition(long position)
-{
- _targetPos = _currentPos = position;
- _n = 0;
- _stepInterval = 0;
-}
-
-void AccelStepper::computeNewSpeed()
-{
- long distanceTo = distanceToGo(); // +ve is clockwise from curent location
-
- long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
-
- if (distanceTo == 0 && stepsToStop <= 1)
- {
- // We are at the target and its time to stop
- _stepInterval = 0;
- _speed = 0.0;
- _n = 0;
- return;
- }
-
- if (distanceTo > 0)
- {
- // We are anticlockwise from the target
- // Need to go clockwise from here, maybe decelerate now
- if (_n > 0)
- {
- // Currently accelerating, need to decel now? Or maybe going the wrong way?
- if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
- _n = -stepsToStop; // Start deceleration
- }
- else if (_n < 0)
- {
- // Currently decelerating, need to accel again?
- if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
- _n = -_n; // Start accceleration
- }
- }
- else if (distanceTo < 0)
- {
- // We are clockwise from the target
- // Need to go anticlockwise from here, maybe decelerate
- if (_n > 0)
- {
- // Currently accelerating, need to decel now? Or maybe going the wrong way?
- if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
- _n = -stepsToStop; // Start deceleration
- }
- else if (_n < 0)
- {
- // Currently decelerating, need to accel again?
- if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
- _n = -_n; // Start accceleration
- }
- }
-
- // Need to accelerate or decelerate
- if (_n == 0)
- {
- // First step from stopped
- _cn = _c0;
- _direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
- }
- else
- {
- // Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
- _cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
- _cn = max(_cn, _cmin);
- }
- _n++;
- _stepInterval = _cn;
- _speed = 1000000.0 / _cn;
- if (_direction == DIRECTION_CCW)
- _speed = -_speed;
-
-#if 0
- Serial.println(_speed);
- Serial.println(_acceleration);
- Serial.println(_cn);
- Serial.println(_c0);
- Serial.println(_n);
- Serial.println(_stepInterval);
- Serial.println(distanceTo);
- Serial.println(stepsToStop);
- Serial.println("-----");
-#endif
-}
-
-// Run the motor to implement speed and acceleration in order to proceed to the target position
-// You must call this at least once per step, preferably in your main loop
-// If the motor is in the desired position, the cost is very small
-// returns true if the motor is still running to the target position.
-bool AccelStepper::run()
-{
- if (runSpeed())
- computeNewSpeed();
- return _speed != 0.0 || distanceToGo() != 0;
-}
-
-AccelStepper::AccelStepper(uint8_t interface, PinName pin1, PinName pin2, PinName pin3, PinName pin4, bool enable)
-{
- _interface = interface;
- _currentPos = 0;
- _targetPos = 0;
- _speed = 0.0;
- _maxSpeed = 1.0;
- _acceleration = 0.0;
- _sqrt_twoa = 1.0;
- _stepInterval = 0;
- _minPulseWidth = 1;
- _lastStepTime = 0;
- // _pin[0] = pin1;
- // _pin[1] = pin2;
- // _pin[2] = pin3;
- // _pin[3] = pin4;
- _pin0 = new DigitalOut(pin1);
- _pin1 = new DigitalOut(pin2);
- _pin2 = new DigitalOut(pin3);
- _pin3 = new DigitalOut(pin4);
-
- // NEW
- _n = 0;
- _c0 = 0.0;
- _cn = 0.0;
- _cmin = 1.0;
- _direction = DIRECTION_CCW;
-
- int i;
- for (i = 0; i < 4; i++)
- _pinInverted[i] = 0;
- if (enable)
- enableOutputs();
- // Some reasonable default
- setAcceleration(1);
-}
-
-AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
-{
- _interface = 0;
- _currentPos = 0;
- _targetPos = 0;
- _speed = 0.0;
- _maxSpeed = 1.0;
- _acceleration = 0.0;
- _sqrt_twoa = 1.0;
- _stepInterval = 0;
- _minPulseWidth = 1;
- _lastStepTime = 0;
- _forward = forward;
- _backward = backward;
-
- // NEW
- _n = 0;
- _c0 = 0.0;
- _cn = 0.0;
- _cmin = 1.0;
- _direction = DIRECTION_CCW;
-
- int i;
- for (i = 0; i < 4; i++)
- _pinInverted[i] = 0;
- // Some reasonable default
- setAcceleration(1);
-}
-
-void AccelStepper::setMaxSpeed(float speed)
-{
- if (_maxSpeed != speed)
- {
- _maxSpeed = speed;
- _cmin = 1000000.0 / speed;
- // Recompute _n from current speed and adjust speed if accelerating or cruising
- if (_n > 0)
- {
- _n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
- computeNewSpeed();
- }
- }
-}
-
-void AccelStepper::setAcceleration(float acceleration)
-{
- if (acceleration == 0.0)
- return;
- if (_acceleration != acceleration)
- {
- // Recompute _n per Equation 17
- _n = _n * (_acceleration / acceleration);
- // New c0 per Equation 7, with correction per Equation 15
- _c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
- _acceleration = acceleration;
- computeNewSpeed();
- }
-}
-
-void AccelStepper::setSpeed(float speed)
-{
- if (speed == _speed)
- return;
- speed = constrain(speed, -_maxSpeed, _maxSpeed);
- if (speed == 0.0)
- _stepInterval = 0;
- else
- {
- _stepInterval = fabs(1000000.0 / speed);
- _direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
- }
- _speed = speed;
-}
-
-float AccelStepper::speed()
-{
- return _speed;
-}
-
-// Subclasses can override
-void AccelStepper::step(long step)
-{
- switch (_interface)
- {
- case FUNCTION:
- step0(step);
- break;
-
- case DRIVER:
- step1(step);
- break;
-
- case FULL2WIRE:
- step2(step);
- break;
-
- case FULL3WIRE:
- step3(step);
- break;
-
- case FULL4WIRE:
- step4(step);
- break;
-
- case HALF3WIRE:
- step6(step);
- break;
-
- case HALF4WIRE:
- step8(step);
- break;
- }
-}
-
-// You might want to override this to implement eg serial output
-// bit 0 of the mask corresponds to _pin[0]
-// bit 1 of the mask corresponds to _pin[1]
-// ....
-void AccelStepper::setOutputPins(uint8_t mask)
-{
-// uint8_t numpins = 2;
-// if (_interface == FULL4WIRE || _interface == HALF4WIRE)
-// numpins = 4;
-// else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
-// numpins = 3;
-// uint8_t i;
-// for (i = 0; i < numpins; i++)
-// digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
- *_pin0 = (mask & (1 << 0)) ? (HIGH ^ _pinInverted[0]) : (LOW ^ _pinInverted[0]);
- *_pin1 = (mask & (1 << 1)) ? (HIGH ^ _pinInverted[1]) : (LOW ^ _pinInverted[1]);
- if (_interface == FULL4WIRE || _interface == HALF4WIRE) {
- *_pin2 = (mask & (1 << 2)) ? (HIGH ^ _pinInverted[2]) : (LOW ^ _pinInverted[2]);
- *_pin3 = (mask & (1 << 3)) ? (HIGH ^ _pinInverted[3]) : (LOW ^ _pinInverted[3]);
- }
- else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
- *_pin2 = (mask & (1 << 2)) ? (HIGH ^ _pinInverted[2]) : (LOW ^ _pinInverted[2]);
-}
-
-// 0 pin step function (ie for functional usage)
-void AccelStepper::step0(long step)
-{
- if (_speed > 0)
- _forward();
- else
- _backward();
-}
-
-// 1 pin step function (ie for stepper drivers)
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step1(long step)
-{
- // _pin[0] is step, _pin[1] is direction
- setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
- setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
- // Caution 200ns setup time
- // Delay the minimum allowed pulse width
- //delayMicroseconds(_minPulseWidth);
- wait_us(_minPulseWidth);
- setOutputPins(_direction ? 0b10 : 0b00); // step LOW
-
-}
-
-
-// 2 pin step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step2(long step)
-{
- switch (step & 0x3)
- {
- case 0: /* 01 */
- setOutputPins(0b10);
- break;
-
- case 1: /* 11 */
- setOutputPins(0b11);
- break;
-
- case 2: /* 10 */
- setOutputPins(0b01);
- break;
-
- case 3: /* 00 */
- setOutputPins(0b00);
- break;
- }
-}
-// 3 pin step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step3(long step)
-{
- switch (step % 3)
- {
- case 0: // 100
- setOutputPins(0b100);
- break;
-
- case 1: // 001
- setOutputPins(0b001);
- break;
-
- case 2: //010
- setOutputPins(0b010);
- break;
-
- }
-}
-
-// 4 pin step function for half stepper
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step4(long step)
-{
- switch (step & 0x3)
- {
- case 0: // 1010
- setOutputPins(0b0101);
- break;
-
- case 1: // 0110
- setOutputPins(0b0110);
- break;
-
- case 2: //0101
- setOutputPins(0b1010);
- break;
-
- case 3: //1001
- setOutputPins(0b1001);
- break;
- }
-}
-
-// 3 pin half step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step6(long step)
-{
- switch (step % 6)
- {
- case 0: // 100
- setOutputPins(0b100);
- break;
-
- case 1: // 101
- setOutputPins(0b101);
- break;
-
- case 2: // 001
- setOutputPins(0b001);
- break;
-
- case 3: // 011
- setOutputPins(0b011);
- break;
-
- case 4: // 010
- setOutputPins(0b010);
- break;
-
- case 5: // 011
- setOutputPins(0b110);
- break;
-
- }
-}
-
-// 4 pin half step function
-// This is passed the current step number (0 to 7)
-// Subclasses can override
-void AccelStepper::step8(long step)
-{
- switch (step & 0x7)
- {
- case 0: // 1000
- setOutputPins(0b0001);
- break;
-
- case 1: // 1010
- setOutputPins(0b0101);
- break;
-
- case 2: // 0010
- setOutputPins(0b0100);
- break;
-
- case 3: // 0110
- setOutputPins(0b0110);
- break;
-
- case 4: // 0100
- setOutputPins(0b0010);
- break;
-
- case 5: //0101
- setOutputPins(0b1010);
- break;
-
- case 6: // 0001
- setOutputPins(0b1000);
- break;
-
- case 7: //1001
- setOutputPins(0b1001);
- break;
- }
-}
-
-// Prevents power consumption on the outputs
-void AccelStepper::disableOutputs()
-{
- if (! _interface) return;
-
- setOutputPins(0); // Handles inversion automatically
- // if (_enablePin != 0xff)
- if (_enablePin)
- // digitalWrite(_enablePin, LOW ^ _enableInverted);
- *_enablePin = LOW ^ _enableInverted;
-}
-
-void AccelStepper::enableOutputs()
-{
- if (! _interface)
- return;
-
- //pinMode(_pin[0], OUTPUT);
- //pinMode(_pin[1], OUTPUT);
- if (_interface == FULL4WIRE || _interface == HALF4WIRE)
- {
- //pinMode(_pin[2], OUTPUT);
- //pinMode(_pin[3], OUTPUT);
- }
- else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
- {
- //pinMode(_pin[2], OUTPUT);
- }
-
- // if (_enablePin != 0xff)
- if (_enablePin)
- {
- //pinMode(_enablePin, OUTPUT);
- //digitalWrite(_enablePin, HIGH ^ _enableInverted);
- *_enablePin = HIGH ^ _enableInverted;
- }
-}
-
-void AccelStepper::setMinPulseWidth(unsigned int minWidth)
-{
- _minPulseWidth = minWidth;
-}
-
-// void AccelStepper::setEnablePin(uint8_t enablePin)
-void AccelStepper::setEnablePin(PinName enablePin)
-{
- // _enablePin = enablePin;
- _enablePin = new DigitalOut(enablePin);
-
- // This happens after construction, so init pin now.
- // if (_enablePin != 0xff)
- if (*_enablePin)
- {
- //pinMode(_enablePin, OUTPUT);
- //digitalWrite(_enablePin, HIGH ^ _enableInverted);
- *_enablePin = HIGH ^ _enableInverted;
- }
-}
-
-void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
-{
- _pinInverted[0] = stepInvert;
- _pinInverted[1] = directionInvert;
- _enableInverted = enableInvert;
-}
-
-void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
-{
- _pinInverted[0] = pin1Invert;
- _pinInverted[1] = pin2Invert;
- _pinInverted[2] = pin3Invert;
- _pinInverted[3] = pin4Invert;
- _enableInverted = enableInvert;
-}
-
-// Blocks until the target position is reached and stopped
-void AccelStepper::runToPosition()
-{
- while (run())
- ;
-}
-
-bool AccelStepper::runSpeedToPosition()
-{
- if (_targetPos == _currentPos)
- return false;
- if (_targetPos >_currentPos)
- _direction = DIRECTION_CW;
- else
- _direction = DIRECTION_CCW;
- return runSpeed();
-}
-
-// Blocks until the new target position is reached
-void AccelStepper::runToNewPosition(long position)
-{
- moveTo(position);
- runToPosition();
-}
-
-void AccelStepper::stop()
-{
- if (_speed != 0.0)
- {
- long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
- if (_speed > 0)
- move(stepsToStop);
- else
- move(-stepsToStop);
- }
-}
-
diff -r d4dad64faadb -r 086f8c1079ff AccelStepper.h
--- 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
-
diff -r d4dad64faadb -r 086f8c1079ff AccelStepper.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AccelStepper.lib Mon May 07 11:41:10 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/yuliyasm/code/AccelStepper/#deef8c36d17a
diff -r d4dad64faadb -r 086f8c1079ff USBDevice_STM32F103.lib --- a/USBDevice_STM32F103.lib Sat Feb 03 19:25:25 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://developer.mbed.org/users/hudakz/code/USBDevice_STM32F103/#0a9e747bca06
diff -r d4dad64faadb -r 086f8c1079ff main.cpp
--- a/main.cpp Sat Feb 03 19:25:25 2018 +0000
+++ b/main.cpp Mon May 07 11:41:10 2018 +0000
@@ -1,88 +1,118 @@
#include "stm32f103c8t6.h"
#include "mbed.h"
-#include "USBSerial.h"
#include <string>
#include "AccelStepper.h"
//X20Y20Z-300\r - пример команды
-
-const float e = 24; // end effector
-const float f = 75; // base
-const float re = 300;
+const float e = 20; // end effector
+const float f = 80; // base
+const float re = 225;
const float rf = 100;
const float pi = 3.14;
const float cos120 = -0.5;
const float sin120 = sqrt(3.0) / 2;
const float tg30 = 1 / sqrt(3.0);
-const float q = 1; //микрошаг
+const float q = 8; //микрошаг
bool parseXYZ(char* m, float* A);
int delta_calcInverse(float* A, float* B);
+void MotorsInit();
PinName stp[3] = {PB_15,PA_8,PA_9};
PinName dir[3] = {PB_12,PB_13,PB_14};
+AccelStepper axis1(1, stp[0], dir[0]);
+AccelStepper axis2(1, stp[1], dir[1]);
+AccelStepper axis3(1, stp[2], dir[2]);
+AccelStepper Motors[3] = {axis1, axis2, axis3};
+DigitalIn zero1(PB_10);
+DigitalIn zero2(PB_1);
+DigitalIn zero3(PB_0);
+DigitalIn zero[3] = {zero1, zero2, zero3};
+Serial pc(PA_2, PA_3);
+DigitalOut myled(LED1);
+DigitalOut enb(PA_10);
-AccelStepper Xaxis(1, stp[0], dir[0]);
-AccelStepper Yaxis(1, stp[1], dir[1]);
-AccelStepper Zaxis(1, stp[2], dir[2]);
-AccelStepper Motors[3] = {Xaxis, Yaxis, Zaxis};
Timer t;
int main()
{
confSysClock(); //Configure system clock (72MHz HSE clock, 48MHz USB clock)
- USBSerial usbSerial(0x1f00, 0x2012, 0x0001, false);
- //DigitalOut myled(LED1);
- DigitalOut enb(PA_10);
+ pc.baud(9600);
t.start();
- for (int i = 0; i < 3; i++) {
- Motors[i].setMaxSpeed(1000);
- Motors[i].setAcceleration(100);
- Motors[i].setMinPulseWidth(10000);
- //Motors[i].moveTo(500);
- }
-
- usbSerial.printf("Ready\r\n");
-
+ MotorsInit();
+ float angles[3] = {0, 0, 0};
+ float point[3] = {0, 0, 0};
+ char message[32] = "";
+ char c = '\0';
while(1) {
- enb = 1;
- /*myled = 0; // turn the LED on
- wait_ms(200); // 200 millisecond
- myled = 1; // turn the LED off
- wait_ms(1000); // 1000 millisecond
- usbSerial.printf("Blink\r\n");*/
+ for (int i = 0; i < 3; i++)
+ Motors[i].run();
+ if (Motors[0].distanceToGo() == 0)
+ myled = 1;
- if (usbSerial.available()) {
- char message[32];
- wait_ms(2);
- usbSerial.scanf("%s", message);
- strcat(message, "\r");
- usbSerial.printf("%s", message);
+ if (pc.readable()) {
+ wait_ms(300);
+ strcpy(message, "");
+ pc.scanf("%s\r\n", message);
+ strcat(message, "\n");
+ pc.printf("%s", message);
- float point[3];
bool p = parseXYZ(message, point);
- if(p == false)
- return;
- usbSerial.printf("%.2f \r", point[0]);
- usbSerial.printf("%.2f \r", point[1]);
- usbSerial.printf("%.2f \r", point[2]);
+ if(p == false) {
+ pc.printf("Parse fail");
+ continue;
+ }
+ pc.printf("%.2f ", point[0]);
+ pc.printf("%.2f ", point[1]);
+ pc.printf("%.2f \n", point[2]);
+ delta_calcInverse(point, angles);
- float angles[3];
- if (!delta_calcInverse(point, angles)) {
- for (int i = 0; i < 3; i++) {
- usbSerial.printf("%.2f \r", angles[i]);
- Motors[i].moveTo(angles[i]*q/1.8);
- }
+ for (int i = 0; i < 3; i++) {
+ pc.printf("%.2f ", angles[i]);
+ Motors[i].moveTo(int(angles[i]*q/1.8));
+ myled = 0;
+ //Motors[i].runToPosition();
+ //myled = 1;
}
}
- for (int i = 0; i < 3; i++)
- Motors[i].runToPosition();
}
}
+void MotorsInit()
+{
+ enb = 0;
+ myled = 0;
+ pc.printf("Hello\r\n");
+
+ for (int i = 0; i < 3; i++) {
+ Motors[i].setMinPulseWidth (100);
+ Motors[i].setMaxSpeed (500);
+ Motors[i].setAcceleration (100);
+ Motors[i].moveTo(-90*q/1.8);
+ Motors[i].setSpeed (50);
+ }
+
+ while(zero[0] || zero[1] || zero[2]) {
+ for (int i = 0; i < 3; i++) {
+ if(zero[i] != 0)
+ Motors[i].runSpeedToPosition();
+ if (!Motors[i].distanceToGo())
+ goto setup;
+ }
+ }
+setup:
+ for (int i = 0; i < 3; i++) {
+ Motors[i].stop();
+ Motors[i].setCurrentPosition(0);
+ }
+ myled = 1;
+ pc.printf("Ready\r\n");
+}
+
+
bool parseXYZ(char* m, float* A)
{
char buff[32] = "";
@@ -90,7 +120,9 @@
if (m[i] != 'X')
return false;
i++;
- while (m[i] != 'Y' && i < 32) {
+ while (m[i] != 'Y') {
+ if (m[i] == '\n')
+ return false;
strcat(buff, &m[i]);
i++;
}
@@ -98,7 +130,9 @@
strcpy(buff,"");
i++;
- while (m[i] != 'Z' && i < 32) {
+ while (m[i] != 'Z') {
+ if (m[i] == '\n')
+ return false;
strcat(buff, &m[i]);
i++;
}
@@ -106,12 +140,13 @@
strcpy(buff,"");
i++;
- while (m[i] != '\r' && i < 32) {
+ while (m[i] != '\n') {
+ if (i > 32)
+ return false;
strcat(buff, &m[i]);
i++;
}
A[2] = atof(buff);
-
return true;
}
@@ -131,8 +166,6 @@
return 0;
}
-// inverse kinematics: (x0, y0, z0) -> (theta1, theta2, theta3)
-// returned status: 0=OK, -1=non-existing position
int delta_calcInverse(float* A, float* B)
{
float x0 = A[0];
@@ -142,4 +175,4 @@
if (status == 0) status = delta_calcAngleYZ(x0 * cos120 + y0 * sin120, y0 * cos120 - x0 * sin120, z0, B[1]); // rotate coords to +120 deg
if (status == 0) status = delta_calcAngleYZ(x0 * cos120 - y0 * sin120, y0 * cos120 + x0 * sin120, z0, B[2]); // rotate coords to -120 deg
return status;
-}
+}
\ No newline at end of file