1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
|
/*
* Authors: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Mihai Tudor Panu <mihai.tudor.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Credits to Adafruit.
* Based on Adafruit BMP085 library.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <mraa/pwm.hpp>
#include <mraa/common.hpp>
#include <mraa/gpio.hpp>
#define OVERHEAD_US 6
#define MINPULSE_US 5
#define HIGH 1
#define LOW 0
namespace upm {
/**
* @brief Stepper Motor library
* @defgroup stepmotor libupm-stepmotor
* @ingroup sparkfun generic gpio motor
*/
/**
* @library stepmotor
* @sensor stepmotor
* @comname Stepper Motor
* @altname EasyDriver Stepper Motor Driver
* @type motor
* @man sparkfun generic
* @web http://www.schmalzhaus.com/EasyDriver/index.html
* @con gpio
*
* @brief API for the Stepper Motor
*
* This module defines the Stepper Motor interface. It is compatible with
* stepper motor drivers that use 2 pins to control the motor, like an Easy
* Driver from Brian Schmalz or the STR driver series from Applied Motion. It
* can also control an enable pin if one is available and connected.
*
* The implementation is synchronous and thus blocking while the stepper motor
* is in motion. However it is possible to send the commands via threading and
* the performance of the library will be very good given a low CPU load. On a
* busy system though you will notice some jitter especially at higher speeds.
* It is possible to reduce this effect to some extent by using smoothing
* and/or microstepping on stepper drivers that support such features.
*
* @image html stepmotor.jpg
* <br><em>EasyDriver Sensor image provided by SparkFun* under
* <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
* CC BY-NC-SA-3.0</a>.</em>
*
* @snippet stepmotor.cxx Interesting
*/
class StepMotor {
public:
/**
* Instantiates a StepMotor object.
*
* @param dirPin Direction GPIO pin
* @param stePin Stepper pulse GPIO pin
* @param steps Number of steps per revolution (Default 200)
* @param enPin Enable pin if connected (Optional)
*/
StepMotor (int dirPin, int stePin, int steps = 200, int enPin = -1);
/**
* StepMotor object destructor.
*/
~StepMotor ();
/**
* Can be used to enable/disable the stepper driver if an enable pin is
* available and connected. Check your data sheet as some drivers might
* have the enable logic inverted.
*
* @param flag true to enable or false to disable
*/
void enable (bool flag);
/**
* Sets the rotation speed in rpm. Default 60 rpm.
*
* @param speed Rotation speed in rpm
*/
void setSpeed (int speed);
/**
* Rotates the motor by the specified number of steps. Positive values
* rotate clockwise and negative values rotate counter-clockwise.
*
* @param ticks Number of steps the motor moves
*/
mraa::Result step (int ticks);
/**
* Rotates the motor forward (clockwise).
*
* @param ticks Number of steps the motor moves
*/
mraa::Result stepForward (int ticks);
/**
* Rotates the motor backward (counter-clockwise).
*
* @param ticks Number of steps the motor moves
*/
mraa::Result stepBackward (int ticks);
/**
* Sets the current position. Useful if the motor is not at 0 when the
* driver is initialized.
*
* @param step Current position
*/
void setPosition (int pos);
/**
* Gets the current position. This is cumulative and the result of all
* the step commands sent to the motor.
*
* @return Stepper's position.
*/
int getPosition ();
/**
* Gets the current step. This is relative to one revolution.
*
* @return Current step, ranges from 0 to number of steps per revolution.
*/
int getStep ();
private:
std::string m_name;
mraa::Gpio m_dirPinCtx;
mraa::Gpio m_stePinCtx;
mraa::Gpio *m_enPinCtx;
int m_delay;
int m_steps;
int m_position;
mraa::Result dirForward ();
mraa::Result dirBackward ();
void move ();
void delayus (int us);
};
}
|
