Ryota Yamamoto / L6470SDC

Library for STMicroelectronics dSPIN L6470 stepper driver. "daisy-chain" supported.

Dependents:   L6470_daisy_chain l6470

L6470SDC.h@4:4127dd195311, 2017-04-30 (annotated)

Committer:
Yajirushi
Date:
Sun Apr 30 03:52:13 2017 +0000
Revision:
4:4127dd195311
Parent:
3:486fb90dc7d5 
Qexec() : i and j were wrong : line 552 - 555

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yajirushi 3:486fb90dc7d5 1 /* Copyright (c) 2014 Yajirushi(Cursor)
Yajirushi 3:486fb90dc7d5 2 *
Yajirushi 3:486fb90dc7d5 3 * Released under the MIT license
Yajirushi 3:486fb90dc7d5 4 * http://opensource.org/licenses/mit-license.php
Yajirushi 3:486fb90dc7d5 5 *
Yajirushi 3:486fb90dc7d5 6 * Permission is hereby granted, free of charge, to any person obtaining a copy
Yajirushi 3:486fb90dc7d5 7 * of this software and associated documentation files (the "Software"), to deal
Yajirushi 3:486fb90dc7d5 8 * in the Software without restriction, including without limitation the rights
Yajirushi 3:486fb90dc7d5 9 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Yajirushi 3:486fb90dc7d5 10 * copies of the Software, and to permit persons to whom the Software is
Yajirushi 3:486fb90dc7d5 11 * furnished to do so, subject to the following conditions:
Yajirushi 3:486fb90dc7d5 12 *
Yajirushi 3:486fb90dc7d5 13 * The above copyright notice and this permission notice shall be included in
Yajirushi 3:486fb90dc7d5 14 * all copies or substantial portions of the Software.
Yajirushi 3:486fb90dc7d5 15 *
Yajirushi 3:486fb90dc7d5 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Yajirushi 3:486fb90dc7d5 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Yajirushi 3:486fb90dc7d5 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Yajirushi 3:486fb90dc7d5 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Yajirushi 3:486fb90dc7d5 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Yajirushi 3:486fb90dc7d5 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Yajirushi 3:486fb90dc7d5 22 * THE SOFTWARE.
Yajirushi 3:486fb90dc7d5 23 */
Yajirushi 0:e1964b6e160c 24 #include "mbed.h"
Yajirushi 0:e1964b6e160c 25
Yajirushi 0:e1964b6e160c 26 #ifndef L6470SDC_H
Yajirushi 0:e1964b6e160c 27 #define L6470SDC_H
Yajirushi 0:e1964b6e160c 28
Yajirushi 3:486fb90dc7d5 29 /* ------------------------------------------------------------------
Yajirushi 3:486fb90dc7d5 30 The code below, please be rewritten to match your environment
Yajirushi 3:486fb90dc7d5 31 ------------------------------------------------------------------ */
Yajirushi 3:486fb90dc7d5 32
Yajirushi 3:486fb90dc7d5 33 //If not using Serial-print debugging: DEBUG_L6470SDC to comment out
Yajirushi 3:486fb90dc7d5 34 //If Serial-print debugging, must be connected "USBTX"(tx), "USBRX"(rx).
Yajirushi 0:e1964b6e160c 35 //#define DEBUG_L6470SDC
Yajirushi 0:e1964b6e160c 36
Yajirushi 3:486fb90dc7d5 37 //SPI signal frequency: Less than 5MHz(5,000,000)
Yajirushi 0:e1964b6e160c 38 #define L6470_SPI_FREQ 4960000
Yajirushi 0:e1964b6e160c 39
Yajirushi 3:486fb90dc7d5 40 /* ------------------------------------------------------------------
Yajirushi 3:486fb90dc7d5 41 No need to change the below code
Yajirushi 3:486fb90dc7d5 42 ------------------------------------------------------------------ */
Yajirushi 0:e1964b6e160c 43 #define CMD_NOP 0x0
Yajirushi 0:e1964b6e160c 44 #define CMD_SETPARAM 0x00
Yajirushi 0:e1964b6e160c 45 #define CMD_GETPARAM 0x20
Yajirushi 0:e1964b6e160c 46 #define CMD_RUN_PLUS 0x51
Yajirushi 0:e1964b6e160c 47 #define CMD_RUN_MINUS 0x50
Yajirushi 0:e1964b6e160c 48 #define CMD_STEP_PLUS 0x59
Yajirushi 0:e1964b6e160c 49 #define CMD_STEP_MINUS 0x58
Yajirushi 0:e1964b6e160c 50 #define CMD_ADDSTEP_PLUS 0x41
Yajirushi 0:e1964b6e160c 51 #define CMD_ADDSTEP_MINUS 0x40
Yajirushi 0:e1964b6e160c 52 #define CMD_GOTO 0x60
Yajirushi 0:e1964b6e160c 53 #define CMD_GOTO_DIR_PLUS 0x69
Yajirushi 0:e1964b6e160c 54 #define CMD_GOTO_DIR_MINUS 0x68
Yajirushi 0:e1964b6e160c 55 #define CMD_GO_UNTIL_PLUS 0x83
Yajirushi 0:e1964b6e160c 56 #define CMD_GO_UNTIL_MINUS 0x82
Yajirushi 0:e1964b6e160c 57 #define CMD_RELEASE_SW_PLUS 0x93
Yajirushi 0:e1964b6e160c 58 #define CMD_RELEASE_SW_MINUS 0x92
Yajirushi 0:e1964b6e160c 59 #define CMD_GO_HOME 0x70
Yajirushi 0:e1964b6e160c 60 #define CMD_GO_MARK 0x78
Yajirushi 0:e1964b6e160c 61 #define CMD_RESET_POS 0xD8
Yajirushi 0:e1964b6e160c 62 #define CMD_RESET_DEVICE 0xC0
Yajirushi 0:e1964b6e160c 63 #define CMD_SOFT_STOP 0xB0
Yajirushi 0:e1964b6e160c 64 #define CMD_HARD_STOP 0xB8
Yajirushi 0:e1964b6e160c 65 #define CMD_SOFT_HIZ 0xA0
Yajirushi 0:e1964b6e160c 66 #define CMD_HARD_HIZ 0xA8
Yajirushi 0:e1964b6e160c 67 #define CMD_GET_STATUS 0xD0
Yajirushi 0:e1964b6e160c 68
Yajirushi 0:e1964b6e160c 69 #define REG_NOTHING 0x0
Yajirushi 0:e1964b6e160c 70 #define REG_ABS_POS 0x01
Yajirushi 0:e1964b6e160c 71 #define REG_EL_POS 0x02
Yajirushi 0:e1964b6e160c 72 #define REG_MARK 0x03
Yajirushi 0:e1964b6e160c 73 #define REG_SPEED 0x04
Yajirushi 0:e1964b6e160c 74 #define REG_ACC 0x05
Yajirushi 0:e1964b6e160c 75 #define REG_DEC 0x06
Yajirushi 0:e1964b6e160c 76 #define REG_MAX_SPEED 0x07
Yajirushi 0:e1964b6e160c 77 #define REG_MIN_SPEED 0x08
Yajirushi 0:e1964b6e160c 78 #define REG_KVAL_HOLD 0x09
Yajirushi 0:e1964b6e160c 79 #define REG_KVAL_RUN 0x0A
Yajirushi 0:e1964b6e160c 80 #define REG_KVAL_ACC 0x0B
Yajirushi 0:e1964b6e160c 81 #define REG_KVAL_DEC 0x0C
Yajirushi 0:e1964b6e160c 82 #define REG_INT_SPD 0x0D
Yajirushi 0:e1964b6e160c 83 #define REG_ST_SLP 0x0E
Yajirushi 0:e1964b6e160c 84 #define REG_FN_SLP_ACC 0x0F
Yajirushi 0:e1964b6e160c 85 #define REG_FN_SLP_DEC 0x10
Yajirushi 0:e1964b6e160c 86 #define REG_K_THERM 0x11
Yajirushi 0:e1964b6e160c 87 #define REG_ADC_OUT 0x12
Yajirushi 0:e1964b6e160c 88 #define REG_OCD_TH 0x13
Yajirushi 0:e1964b6e160c 89 #define REG_STALL_TH 0x14
Yajirushi 0:e1964b6e160c 90 #define REG_FS_SPD 0x15
Yajirushi 0:e1964b6e160c 91 #define REG_STEP_MODE 0x16
Yajirushi 0:e1964b6e160c 92 #define REG_ALARM_EN 0x17
Yajirushi 0:e1964b6e160c 93 #define REG_CONFIG 0x18
Yajirushi 0:e1964b6e160c 94 #define REG_STATUS 0x19
Yajirushi 0:e1964b6e160c 95
Yajirushi 3:486fb90dc7d5 96 //DaisyChain CommandQueue Structure
Yajirushi 3:486fb90dc7d5 97 typedef struct L6470CommandQueue{
Yajirushi 3:486fb90dc7d5 98 unsigned char addr;
Yajirushi 3:486fb90dc7d5 99 unsigned long val;
Yajirushi 3:486fb90dc7d5 100 int bitLen;
Yajirushi 3:486fb90dc7d5 101 }L6470CMDQ;
Yajirushi 3:486fb90dc7d5 102
Yajirushi 3:486fb90dc7d5 103 /**
Yajirushi 3:486fb90dc7d5 104 * @~japanese
Yajirushi 3:486fb90dc7d5 105 * STマイクロエレクトロニクス社製のL6470ステッピングモーターコントローラー用ライブラリ
Yajirushi 3:486fb90dc7d5 106 * 真の意味でデイジーチェーンをサポートしています(もちろん個別結線でも使用可能です)
Yajirushi 3:486fb90dc7d5 107 *
Yajirushi 3:486fb90dc7d5 108 * @~english
Yajirushi 3:486fb90dc7d5 109 * Library for STMicroelectronics "L6470" stepper motor controller.
Yajirushi 3:486fb90dc7d5 110 * This library supported "SPI Daisy-Chain".
Yajirushi 1:db64ad30b4b3 111 *
Yajirushi 1:db64ad30b4b3 112 * Example:
Yajirushi 1:db64ad30b4b3 113 * @code
Yajirushi 3:486fb90dc7d5 114 * //case: Using "Daisy-Chained" 2 motors. not use Serial-Debugging.
Yajirushi 1:db64ad30b4b3 115 * #include "mbed.h"
Yajirushi 1:db64ad30b4b3 116 * #include "L6470SDC.h"
Yajirushi 1:db64ad30b4b3 117 *
Yajirushi 3:486fb90dc7d5 118 * int main(){
Yajirushi 3:486fb90dc7d5 119 * //create instance(Not use Serial-Debugging)
Yajirushi 3:486fb90dc7d5 120 * L6470SDC l6470(SPI_MOSI, SPI_MISO, SPI_SCK, D10);
Yajirushi 1:db64ad30b4b3 121 *
Yajirushi 3:486fb90dc7d5 122 * wait(1);
Yajirushi 3:486fb90dc7d5 123 *
Yajirushi 3:486fb90dc7d5 124 * //L6470 initialize
Yajirushi 1:db64ad30b4b3 125 * l6470.init();
Yajirushi 1:db64ad30b4b3 126 *
Yajirushi 3:486fb90dc7d5 127 * wait(5);
Yajirushi 1:db64ad30b4b3 128 *
Yajirushi 3:486fb90dc7d5 129 * //Set the rotation speed of the motor to 100step/s. (Daisy-chained motor No.1)
Yajirushi 3:486fb90dc7d5 130 * l6470.setMaximumSpeed(1, l6470.calcMaxSpd(100));
Yajirushi 3:486fb90dc7d5 131 * //Set the rotation speed of the motor to 200step/s. (Daisy-chained motor No.2)
Yajirushi 3:486fb90dc7d5 132 * l6470.setMaximumSpeed(2, l6470.calcMaxSpd(200));
Yajirushi 3:486fb90dc7d5 133 *
Yajirushi 3:486fb90dc7d5 134 * //Running motor 5seconds.
Yajirushi 3:486fb90dc7d5 135 * //Maximum speed = 300step/s
Yajirushi 3:486fb90dc7d5 136 * //!!Start timing deviate, because it does not use the "Queue"
Yajirushi 3:486fb90dc7d5 137 * l6470.run(1, l6470.calcSpd(300), true); //clockwise No.1
Yajirushi 3:486fb90dc7d5 138 * l6470.run(2, l6470.calcSpd(300), false); //counter-clockwise No.2
Yajirushi 1:db64ad30b4b3 139 * wait(5.0);
Yajirushi 3:486fb90dc7d5 140 * l6470.stop(1);
Yajirushi 3:486fb90dc7d5 141 * l6470.stop(2);
Yajirushi 1:db64ad30b4b3 142 *
Yajirushi 3:486fb90dc7d5 143 * //Waiting... until motor "absolute stop".
Yajirushi 3:486fb90dc7d5 144 * while(l6470.isBusy(1) || l6470.isBusy(2));
Yajirushi 3:486fb90dc7d5 145 *
Yajirushi 3:486fb90dc7d5 146 * wait(3.0);
Yajirushi 3:486fb90dc7d5 147 *
Yajirushi 3:486fb90dc7d5 148 * //Enqueue: Motor No.1 -> 7 rev rotation.(200step/rev * microstep-count * rev count), clockwise.
Yajirushi 3:486fb90dc7d5 149 * l6470.ENQ_move(1, 200*128*7, true);
Yajirushi 3:486fb90dc7d5 150 *
Yajirushi 3:486fb90dc7d5 151 * //Enqueue: Motor No.2 -> 7 rev rotation.(200step/rev * microstep-count * rev count), clockwise.
Yajirushi 3:486fb90dc7d5 152 * l6470.ENQ_move(2, 200*128*7, true);
Yajirushi 1:db64ad30b4b3 153 *
Yajirushi 3:486fb90dc7d5 154 * //Execute Queue
Yajirushi 3:486fb90dc7d5 155 * l6470.Qexec();
Yajirushi 3:486fb90dc7d5 156 *
Yajirushi 3:486fb90dc7d5 157 * //Waiting... until motor "absolute stop".
Yajirushi 3:486fb90dc7d5 158 * while(l6470.isBusy(1) || l6470.isBusy(2));
Yajirushi 3:486fb90dc7d5 159 *
Yajirushi 3:486fb90dc7d5 160 * //Set the rotation speed of the motor No.2 to motor No.1.
Yajirushi 3:486fb90dc7d5 161 * l6470.setMaximumSpeed(1, l6470.getMaximumSpeed(2));
Yajirushi 3:486fb90dc7d5 162 *
Yajirushi 3:486fb90dc7d5 163 * //Back to HOME_POS.("home" is aliase "zero")
Yajirushi 1:db64ad30b4b3 164 * l6470.home(1);
Yajirushi 3:486fb90dc7d5 165 * l6470.zero(2);
Yajirushi 1:db64ad30b4b3 166 * }
Yajirushi 1:db64ad30b4b3 167 * @endcode
Yajirushi 1:db64ad30b4b3 168 */
Yajirushi 0:e1964b6e160c 169 class L6470SDC{
Yajirushi 0:e1964b6e160c 170 public:
Yajirushi 4:4127dd195311 171 /** Constructor:(Serial, SPI, CS)@n
Yajirushi 3:486fb90dc7d5 172 * @~japanese
Yajirushi 4:4127dd195311 173 * コンストラクタ。シリアル通信デバッグを使用する。
Yajirushi 3:486fb90dc7d5 174 * @param tx シリアル通信で使用するTXピン(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 175 * @param rx シリアル通信で使用するRXピン(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 176 * @param mosi SPIのmosiピン
Yajirushi 3:486fb90dc7d5 177 * @param miso SPIのmisoピン
Yajirushi 3:486fb90dc7d5 178 * @param sclk SPIのsclkピン
Yajirushi 3:486fb90dc7d5 179 * @param csel SPIのChipSelectピン
Yajirushi 1:db64ad30b4b3 180 *
Yajirushi 3:486fb90dc7d5 181 * @~english
Yajirushi 4:4127dd195311 182 * Constructor. use Serial-Debugging.
Yajirushi 3:486fb90dc7d5 183 * @param tx Serial USB_TX PinName (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 3:486fb90dc7d5 184 * @param rx Serial USB_RX PinName (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 1:db64ad30b4b3 185 * @param mosi SPI Master-out PinName
Yajirushi 1:db64ad30b4b3 186 * @param miso SPI Slave-out PinName
Yajirushi 1:db64ad30b4b3 187 * @param sclk SPI Clock PinName
Yajirushi 1:db64ad30b4b3 188 * @param csel SPI ChipSelect PinName
Yajirushi 3:486fb90dc7d5 189 *
Yajirushi 1:db64ad30b4b3 190 * Example:
Yajirushi 3:486fb90dc7d5 191 * @code
Yajirushi 3:486fb90dc7d5 192 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 193 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 194 * //ChipSelect -> select pin as you like.
Yajirushi 3:486fb90dc7d5 195 * L6470SDC l6470(USBTX, USBRX, p5, p6, p7, p8);
Yajirushi 3:486fb90dc7d5 196 * @endcode
Yajirushi 3:486fb90dc7d5 197 */
Yajirushi 3:486fb90dc7d5 198 L6470SDC(PinName tx, PinName rx, PinName mosi, PinName miso, PinName sclk, PinName csel);
Yajirushi 3:486fb90dc7d5 199
Yajirushi 4:4127dd195311 200 /** Constructor:(Serial, SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 201 * @~japanese
Yajirushi 4:4127dd195311 202 * コンストラクタ。シリアル通信デバッグを使用する。
Yajirushi 3:486fb90dc7d5 203 * @param tx シリアル通信で使用するTXピン(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 204 * @param rx シリアル通信で使用するRXピン(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 205 * @param mosi SPIのmosiピン
Yajirushi 3:486fb90dc7d5 206 * @param miso SPIのmisoピン
Yajirushi 3:486fb90dc7d5 207 * @param sclk SPIのsclkピン
Yajirushi 3:486fb90dc7d5 208 * @param *csel SPIのChipSelectピンのアドレス
Yajirushi 3:486fb90dc7d5 209 *
Yajirushi 3:486fb90dc7d5 210 * @~english
Yajirushi 4:4127dd195311 211 * Constructor. use Serial-Debugging.
Yajirushi 3:486fb90dc7d5 212 * @param tx Serial USB_TX PinName (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 3:486fb90dc7d5 213 * @param rx Serial USB_RX PinName (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 3:486fb90dc7d5 214 * @param mosi SPI Master-out PinName
Yajirushi 3:486fb90dc7d5 215 * @param miso SPI Slave-out PinName
Yajirushi 3:486fb90dc7d5 216 * @param sclk SPI Clock PinName
Yajirushi 3:486fb90dc7d5 217 * @param *csel SPI ChipSelect Pin Addr
Yajirushi 3:486fb90dc7d5 218 *
Yajirushi 3:486fb90dc7d5 219 * Example:
Yajirushi 3:486fb90dc7d5 220 * @code
Yajirushi 3:486fb90dc7d5 221 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 222 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 223 *
Yajirushi 3:486fb90dc7d5 224 * //ChipSelect -> select pin as you like.
Yajirushi 3:486fb90dc7d5 225 * DigitalOut l6470cs(p8);
Yajirushi 3:486fb90dc7d5 226 *
Yajirushi 3:486fb90dc7d5 227 * L6470SDC l6470(USBTX, USBRX, p5, p6, p7, &l6470cs );
Yajirushi 3:486fb90dc7d5 228 * @endcode
Yajirushi 3:486fb90dc7d5 229 */
Yajirushi 3:486fb90dc7d5 230 L6470SDC(PinName tx, PinName rx, PinName mosi, PinName miso, PinName sclk, DigitalOut *csel);
Yajirushi 3:486fb90dc7d5 231
Yajirushi 4:4127dd195311 232 /** Constructor:(Serial, SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 233 * @~japanese
Yajirushi 4:4127dd195311 234 * コンストラクタ。シリアル通信デバッグを使用する。
Yajirushi 3:486fb90dc7d5 235 * @param *serial USBシリアルのアドレス(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 236 * @param mosi SPIのmosiピン
Yajirushi 3:486fb90dc7d5 237 * @param miso SPIのmisoピン
Yajirushi 3:486fb90dc7d5 238 * @param sclk SPIのsclkピン
Yajirushi 3:486fb90dc7d5 239 * @param *csel SPIのChipSelectピンのアドレス
Yajirushi 3:486fb90dc7d5 240 *
Yajirushi 3:486fb90dc7d5 241 * @~english
Yajirushi 4:4127dd195311 242 * Constructor. use Serial-Debugging.
Yajirushi 3:486fb90dc7d5 243 * @param *serial USB Serial Addr (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 3:486fb90dc7d5 244 * @param mosi SPI Master-out PinName
Yajirushi 3:486fb90dc7d5 245 * @param miso SPI Slave-out PinName
Yajirushi 3:486fb90dc7d5 246 * @param sclk SPI Clock PinName
Yajirushi 3:486fb90dc7d5 247 * @param *csel SPI ChipSelect Pin Addr
Yajirushi 3:486fb90dc7d5 248 *
Yajirushi 3:486fb90dc7d5 249 * Example:
Yajirushi 3:486fb90dc7d5 250 * @code
Yajirushi 3:486fb90dc7d5 251 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 252 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 253 *
Yajirushi 3:486fb90dc7d5 254 * //USB Serial
Yajirushi 3:486fb90dc7d5 255 * Serial l6470Serial(USBTX, USBRX);
Yajirushi 3:486fb90dc7d5 256 *
Yajirushi 3:486fb90dc7d5 257 * L6470SDC l6470( &l6470Serial , p5, p6, p7, p8);
Yajirushi 3:486fb90dc7d5 258 * @endcode
Yajirushi 1:db64ad30b4b3 259 */
Yajirushi 0:e1964b6e160c 260 L6470SDC(Serial *serial, PinName mosi, PinName miso, PinName sclk, PinName csel);
Yajirushi 1:db64ad30b4b3 261
Yajirushi 4:4127dd195311 262 /** Constructor:(Serial, SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 263 * @~japanese
Yajirushi 4:4127dd195311 264 * コンストラクタ。シリアル通信デバッグを使用する。
Yajirushi 3:486fb90dc7d5 265 * @param *serial USBシリアルのアドレス(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 266 * @param mosi SPIのmosiピン
Yajirushi 3:486fb90dc7d5 267 * @param miso SPIのmisoピン
Yajirushi 3:486fb90dc7d5 268 * @param sclk SPIのsclkピン
Yajirushi 3:486fb90dc7d5 269 * @param *csel SPIのChipSelectピンのアドレス
Yajirushi 1:db64ad30b4b3 270 *
Yajirushi 3:486fb90dc7d5 271 * @~english
Yajirushi 4:4127dd195311 272 * Constructor. use Serial-Debugging.
Yajirushi 3:486fb90dc7d5 273 * @param *serial USB Serial Addr (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 1:db64ad30b4b3 274 * @param mosi SPI Master-out PinName
Yajirushi 1:db64ad30b4b3 275 * @param miso SPI Slave-out PinName
Yajirushi 1:db64ad30b4b3 276 * @param sclk SPI Clock PinName
Yajirushi 3:486fb90dc7d5 277 * @param *csel SPI ChipSelect Pin Addr
Yajirushi 3:486fb90dc7d5 278 *
Yajirushi 1:db64ad30b4b3 279 * Example:
Yajirushi 3:486fb90dc7d5 280 * @code
Yajirushi 3:486fb90dc7d5 281 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 282 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 283 *
Yajirushi 3:486fb90dc7d5 284 * //USB Serial
Yajirushi 3:486fb90dc7d5 285 * Serial l6470Serial(USBTX, USBRX);
Yajirushi 3:486fb90dc7d5 286 *
Yajirushi 3:486fb90dc7d5 287 * //ChipSelect pin
Yajirushi 3:486fb90dc7d5 288 * DigitalOut l6470cs(p8);
Yajirushi 3:486fb90dc7d5 289 *
Yajirushi 3:486fb90dc7d5 290 * L6470SDC l6470( &l6470Serial , p5, p6, p7, &l6470cs );
Yajirushi 3:486fb90dc7d5 291 * @endcode
Yajirushi 1:db64ad30b4b3 292 */
Yajirushi 0:e1964b6e160c 293 L6470SDC(Serial *serial, PinName mosi, PinName miso, PinName sclk, DigitalOut *csel);
Yajirushi 1:db64ad30b4b3 294
Yajirushi 4:4127dd195311 295 /** Constructor:(Serial, SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 296 * @~japanese
Yajirushi 4:4127dd195311 297 * コンストラクタ。シリアル通信デバッグを使用する。
Yajirushi 3:486fb90dc7d5 298 * @param *serial USBシリアルのアドレス(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 299 * @param *spi SPIのアドレス
Yajirushi 3:486fb90dc7d5 300 * @param csel SPIのChipSelectピン
Yajirushi 1:db64ad30b4b3 301 *
Yajirushi 3:486fb90dc7d5 302 * @~english
Yajirushi 4:4127dd195311 303 * Constructor. use Serial-Debugging.
Yajirushi 3:486fb90dc7d5 304 * @param *serial USB Serial Addr (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 3:486fb90dc7d5 305 * @param *spi SPI Addr
Yajirushi 1:db64ad30b4b3 306 * @param csel SPI ChipSelect PinName
Yajirushi 3:486fb90dc7d5 307 *
Yajirushi 1:db64ad30b4b3 308 * Example:
Yajirushi 3:486fb90dc7d5 309 * @code
Yajirushi 3:486fb90dc7d5 310 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 311 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 312 * SPI l6470spi(p5, p6, p7);
Yajirushi 3:486fb90dc7d5 313 *
Yajirushi 3:486fb90dc7d5 314 * //USB Serial
Yajirushi 3:486fb90dc7d5 315 * Serial l6470Serial(USBTX, USBRX);
Yajirushi 3:486fb90dc7d5 316 *
Yajirushi 3:486fb90dc7d5 317 * L6470SDC l6470( &l6470Serial , &l6470spi , p8);
Yajirushi 3:486fb90dc7d5 318 * @endcode
Yajirushi 1:db64ad30b4b3 319 */
Yajirushi 0:e1964b6e160c 320 L6470SDC(Serial *serial, SPI *spi, PinName csel);
Yajirushi 1:db64ad30b4b3 321
Yajirushi 4:4127dd195311 322 /** Constructor:(Serial, SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 323 * @~japanese
Yajirushi 4:4127dd195311 324 * コンストラクタ。シリアル通信デバッグを使用する。
Yajirushi 3:486fb90dc7d5 325 * @param *serial USBシリアルのアドレス(シリアルデバッグを使用する際は、#define DEBUG_L6470SDCのコメントアウトを解除してください)
Yajirushi 3:486fb90dc7d5 326 * @param *spi SPIのアドレス
Yajirushi 3:486fb90dc7d5 327 * @param *csel SPIのChipSelectピンのアドレス
Yajirushi 3:486fb90dc7d5 328 *
Yajirushi 3:486fb90dc7d5 329 * @~english
Yajirushi 4:4127dd195311 330 * Constructor. use Serial-Debugging.
Yajirushi 3:486fb90dc7d5 331 * @param *serial USB Serial Addr (If using Serial-debugging. must be #define DEBUG_L6470SDC)
Yajirushi 3:486fb90dc7d5 332 * @param *spi SPI Addr
Yajirushi 3:486fb90dc7d5 333 * @param *csel SPI ChipSelect Pin Addr
Yajirushi 1:db64ad30b4b3 334 *
Yajirushi 1:db64ad30b4b3 335 * Example:
Yajirushi 3:486fb90dc7d5 336 * @code
Yajirushi 3:486fb90dc7d5 337 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 338 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 339 * SPI l6470spi(p5, p6, p7);
Yajirushi 3:486fb90dc7d5 340 *
Yajirushi 3:486fb90dc7d5 341 * //USB Serial
Yajirushi 3:486fb90dc7d5 342 * Serial l6470Serial(USBTX, USBRX);
Yajirushi 3:486fb90dc7d5 343 *
Yajirushi 3:486fb90dc7d5 344 * //ChipSelect pin
Yajirushi 3:486fb90dc7d5 345 * DigitalOut l6470cs(p8);
Yajirushi 3:486fb90dc7d5 346 *
Yajirushi 3:486fb90dc7d5 347 * L6470SDC l6470( &l6470Serial , &l6470spi , &l6470cs );
Yajirushi 3:486fb90dc7d5 348 * @endcode
Yajirushi 1:db64ad30b4b3 349 */
Yajirushi 0:e1964b6e160c 350 L6470SDC(Serial *serial, SPI *spi, DigitalOut *csel);
Yajirushi 1:db64ad30b4b3 351
Yajirushi 4:4127dd195311 352 /** Constructor:(SPI, CS) overload@n
Yajirushi 3:486fb90dc7d5 353 * @~japanese
Yajirushi 4:4127dd195311 354 * コンストラクタ。
Yajirushi 3:486fb90dc7d5 355 * @param mosi SPIのmosiピン
Yajirushi 3:486fb90dc7d5 356 * @param miso SPIのmisoピン
Yajirushi 3:486fb90dc7d5 357 * @param sclk SPIのsclkピン
Yajirushi 3:486fb90dc7d5 358 * @param csel SPIのChipSelectピン
Yajirushi 1:db64ad30b4b3 359 *
Yajirushi 3:486fb90dc7d5 360 * @~english
Yajirushi 4:4127dd195311 361 * Constructor.
Yajirushi 1:db64ad30b4b3 362 * @param mosi SPI Master-out PinName
Yajirushi 1:db64ad30b4b3 363 * @param miso SPI Slave-out PinName
Yajirushi 1:db64ad30b4b3 364 * @param sclk SPI Clock PinName
Yajirushi 1:db64ad30b4b3 365 * @param csel SPI ChipSelect PinName
Yajirushi 3:486fb90dc7d5 366 *
Yajirushi 3:486fb90dc7d5 367 * Example:
Yajirushi 3:486fb90dc7d5 368 * @code
Yajirushi 3:486fb90dc7d5 369 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 370 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 371 * //ChipSelect -> select pin as you like.
Yajirushi 3:486fb90dc7d5 372 * L6470SDC l6470(p5, p6, p7, p8);
Yajirushi 3:486fb90dc7d5 373 * @endcode
Yajirushi 1:db64ad30b4b3 374 */
Yajirushi 0:e1964b6e160c 375 L6470SDC(PinName mosi, PinName miso, PinName sclk, PinName csel);
Yajirushi 1:db64ad30b4b3 376
Yajirushi 4:4127dd195311 377 /** Constructor:(SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 378 * @~japanese
Yajirushi 4:4127dd195311 379 * コンストラクタ。
Yajirushi 3:486fb90dc7d5 380 * @param mosi SPIのmosiピン
Yajirushi 3:486fb90dc7d5 381 * @param miso SPIのmisoピン
Yajirushi 3:486fb90dc7d5 382 * @param sclk SPIのsclkピン
Yajirushi 3:486fb90dc7d5 383 * @param *csel SPIのChipSelectピンのアドレス
Yajirushi 1:db64ad30b4b3 384 *
Yajirushi 3:486fb90dc7d5 385 * @~english
Yajirushi 4:4127dd195311 386 * Constructor.
Yajirushi 1:db64ad30b4b3 387 * @param mosi SPI Master-out PinName
Yajirushi 1:db64ad30b4b3 388 * @param miso SPI Slave-out PinName
Yajirushi 1:db64ad30b4b3 389 * @param sclk SPI Clock PinName
Yajirushi 3:486fb90dc7d5 390 * @param *csel SPI ChipSelect Pin Addr
Yajirushi 3:486fb90dc7d5 391 *
Yajirushi 1:db64ad30b4b3 392 * Example:
Yajirushi 3:486fb90dc7d5 393 * @code
Yajirushi 3:486fb90dc7d5 394 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 395 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 396 *
Yajirushi 3:486fb90dc7d5 397 * //ChipSelect -> select pin as you like.
Yajirushi 3:486fb90dc7d5 398 * DigitalOut l6470cs(p8);
Yajirushi 3:486fb90dc7d5 399 *
Yajirushi 3:486fb90dc7d5 400 * L6470SDC l6470(p5, p6, p7, &l6470cs );
Yajirushi 3:486fb90dc7d5 401 * @endcode
Yajirushi 1:db64ad30b4b3 402 */
Yajirushi 0:e1964b6e160c 403 L6470SDC(PinName mosi, PinName miso, PinName sclk, DigitalOut *csel);
Yajirushi 1:db64ad30b4b3 404
Yajirushi 4:4127dd195311 405 /** Constructor:(SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 406 * @~japanese
Yajirushi 4:4127dd195311 407 * コンストラクタ。
Yajirushi 3:486fb90dc7d5 408 * @param *spi SPIのアドレス
Yajirushi 3:486fb90dc7d5 409 * @param csel SPIのChipSelectピン
Yajirushi 1:db64ad30b4b3 410 *
Yajirushi 3:486fb90dc7d5 411 * @~english
Yajirushi 4:4127dd195311 412 * Constructor.
Yajirushi 3:486fb90dc7d5 413 * @param *spi SPI Addr
Yajirushi 1:db64ad30b4b3 414 * @param csel SPI ChipSelect PinName
Yajirushi 3:486fb90dc7d5 415 *
Yajirushi 1:db64ad30b4b3 416 * Example:
Yajirushi 3:486fb90dc7d5 417 * @code
Yajirushi 3:486fb90dc7d5 418 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 419 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 420 * SPI l6470spi(p5, p6, p7);
Yajirushi 3:486fb90dc7d5 421 *
Yajirushi 3:486fb90dc7d5 422 * L6470SDC l6470( &l6470spi , p8);
Yajirushi 3:486fb90dc7d5 423 * @endcode
Yajirushi 1:db64ad30b4b3 424 */
Yajirushi 0:e1964b6e160c 425 L6470SDC(SPI *spi, PinName csel);
Yajirushi 1:db64ad30b4b3 426
Yajirushi 4:4127dd195311 427 /** Constructor:(SPI, CS) overlaod@n
Yajirushi 3:486fb90dc7d5 428 * @~japanese
Yajirushi 4:4127dd195311 429 * コンストラクタ。
Yajirushi 3:486fb90dc7d5 430 * @param *spi SPIのアドレス
Yajirushi 3:486fb90dc7d5 431 * @param *csel SPIのChipSelectピンのアドレス
Yajirushi 3:486fb90dc7d5 432 *
Yajirushi 3:486fb90dc7d5 433 * @~english
Yajirushi 4:4127dd195311 434 * Constructor.
Yajirushi 3:486fb90dc7d5 435 * @param *spi SPI Addr
Yajirushi 3:486fb90dc7d5 436 * @param *csel SPI ChipSelect Pin Addr
Yajirushi 1:db64ad30b4b3 437 *
Yajirushi 1:db64ad30b4b3 438 * Example:
Yajirushi 3:486fb90dc7d5 439 * @code
Yajirushi 3:486fb90dc7d5 440 * //create instance(case:NXP mbed LPC1768)
Yajirushi 3:486fb90dc7d5 441 * //hardware-SPI -> MOSI:p5, MISO:p6, SCK:p7
Yajirushi 3:486fb90dc7d5 442 * SPI l6470spi(p5, p6, p7);
Yajirushi 3:486fb90dc7d5 443 *
Yajirushi 3:486fb90dc7d5 444 * //ChipSelect pin
Yajirushi 3:486fb90dc7d5 445 * DigitalOut l6470cs(p8);
Yajirushi 3:486fb90dc7d5 446 *
Yajirushi 3:486fb90dc7d5 447 * L6470SDC l6470( &l6470Serial , &l6470spi , &l6470cs );
Yajirushi 3:486fb90dc7d5 448 * @endcode
Yajirushi 1:db64ad30b4b3 449 */
Yajirushi 0:e1964b6e160c 450 L6470SDC(SPI *spi, DigitalOut *csel);
Yajirushi 3:486fb90dc7d5 451
Yajirushi 4:4127dd195311 452 /** Destructor@n
Yajirushi 3:486fb90dc7d5 453 * @~japanese デストラクター(ユーザーが直接呼ぶ必要はありません)
Yajirushi 3:486fb90dc7d5 454 *
Yajirushi 3:486fb90dc7d5 455 * @~english Destructor. may be not called by user.
Yajirushi 3:486fb90dc7d5 456 */
Yajirushi 3:486fb90dc7d5 457 ~L6470SDC();
Yajirushi 0:e1964b6e160c 458
Yajirushi 0:e1964b6e160c 459 private:
Yajirushi 0:e1964b6e160c 460 Serial *pc;
Yajirushi 0:e1964b6e160c 461 SPI *spi;
Yajirushi 0:e1964b6e160c 462 DigitalOut *cs;
Yajirushi 0:e1964b6e160c 463
Yajirushi 0:e1964b6e160c 464 bool hasSerial;
Yajirushi 1:db64ad30b4b3 465 int motor_count;
Yajirushi 3:486fb90dc7d5 466
Yajirushi 3:486fb90dc7d5 467 L6470CMDQ *Queue; //ADD
Yajirushi 0:e1964b6e160c 468
Yajirushi 1:db64ad30b4b3 469 void setCmd(int motorNumber, unsigned char cmdAddress, unsigned long value, int bitLen);
Yajirushi 1:db64ad30b4b3 470 void setParam(int motorNumber, unsigned char regAddress, unsigned long value, int bitLen);
Yajirushi 1:db64ad30b4b3 471 unsigned long getParam(int motorNumber, unsigned char regAddress, int bitLen);
Yajirushi 1:db64ad30b4b3 472 void sendCMD(unsigned char cmd);
Yajirushi 0:e1964b6e160c 473
Yajirushi 0:e1964b6e160c 474 public:
Yajirushi 4:4127dd195311 475 /** Initialize L6470@n
Yajirushi 3:486fb90dc7d5 476 * @~japanese
Yajirushi 4:4127dd195311 477 * L6470を初期化します
Yajirushi 3:486fb90dc7d5 478 * @param initSPI SPIに関するパラメーター(クロックやモード)を初期化しない場合はfalseに(デフォルトはtrue)
Yajirushi 1:db64ad30b4b3 479 *
Yajirushi 3:486fb90dc7d5 480 * @~english
Yajirushi 1:db64ad30b4b3 481 * @param initSPI If initialize SPI parameters.(e.g. clockspeed and mode) = true(default)
Yajirushi 1:db64ad30b4b3 482 */
Yajirushi 3:486fb90dc7d5 483 void init(bool initSPI=true);
Yajirushi 1:db64ad30b4b3 484
Yajirushi 4:4127dd195311 485 /** Get connected(daisy-chained) motor count.@n
Yajirushi 3:486fb90dc7d5 486 * @~japanese
Yajirushi 4:4127dd195311 487 * デイジーチェーン接続されたモーターの数を取得します
Yajirushi 3:486fb90dc7d5 488 * @returns デイジーチェーン接続されたモーター(ドライバー)の個数
Yajirushi 1:db64ad30b4b3 489 *
Yajirushi 3:486fb90dc7d5 490 * @~english
Yajirushi 1:db64ad30b4b3 491 * @returns Connected(daisy-chained) motor count. If not using daisy-chain, return always 1. maybe...
Yajirushi 1:db64ad30b4b3 492 */
Yajirushi 1:db64ad30b4b3 493 int getMotorCount();
Yajirushi 0:e1964b6e160c 494
Yajirushi 4:4127dd195311 495 /** Get motor Busy-flag status@n
Yajirushi 3:486fb90dc7d5 496 * @~japanese
Yajirushi 4:4127dd195311 497 * モーター動作中フラグBUSYの状態を取得します
Yajirushi 3:486fb90dc7d5 498 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 499 * @returns 指定したモーター番号のBUSYフラグ(false = Busy-flag 0, true = Busy-flag 1)
Yajirushi 1:db64ad30b4b3 500 *
Yajirushi 3:486fb90dc7d5 501 * @~english
Yajirushi 1:db64ad30b4b3 502 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 1:db64ad30b4b3 503 * @returns Busy status.(false = Busy-flag 0, true = Busy-flag 1)
Yajirushi 1:db64ad30b4b3 504 */
Yajirushi 0:e1964b6e160c 505 bool isBusy(int motorNumber);
Yajirushi 1:db64ad30b4b3 506
Yajirushi 4:4127dd195311 507 /** Run motor rotate@n
Yajirushi 3:486fb90dc7d5 508 * @~japanese
Yajirushi 3:486fb90dc7d5 509 * モーターを指定した速度で回転させます
Yajirushi 3:486fb90dc7d5 510 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 511 * @param hex_speed 16進数指定でのモーターの回転速度(step毎秒) 。関数 "calcSpd(stepPerSecond)" を使用して16進数換算の値を求めてください。
Yajirushi 3:486fb90dc7d5 512 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 1:db64ad30b4b3 513 *
Yajirushi 3:486fb90dc7d5 514 * @~english
Yajirushi 3:486fb90dc7d5 515 * At the specified speed, run the motor rotation.
Yajirushi 1:db64ad30b4b3 516 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 1:db64ad30b4b3 517 * @param hex_speed Motor rotate speed(hex_value Step/s). -> please use "calcSpd(stepPerSecond)" method.
Yajirushi 2:2af83d3ccd97 518 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 3:486fb90dc7d5 519 *
Yajirushi 2:2af83d3ccd97 520 * Example:
Yajirushi 3:486fb90dc7d5 521 * @code
Yajirushi 3:486fb90dc7d5 522 * unsigned long calculatedValue = l6470.calcSpd(200); //Calculated "hex value" from "real value".
Yajirushi 3:486fb90dc7d5 523 * l6470.run(1, calculatedValue, true); //200step/s, clockwise
Yajirushi 3:486fb90dc7d5 524 * @endcode
Yajirushi 1:db64ad30b4b3 525 */
Yajirushi 0:e1964b6e160c 526 void run(int motorNumber, unsigned long hex_speed, bool isClockwise);
Yajirushi 1:db64ad30b4b3 527
Yajirushi 4:4127dd195311 528 /** Run motor steps@n
Yajirushi 3:486fb90dc7d5 529 * @~japanese
Yajirushi 3:486fb90dc7d5 530 * 指定したステップの数だけモーターを回します
Yajirushi 3:486fb90dc7d5 531 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 532 * @param count 回転させるステップ数。マイクロステップモードを使用している場合は、その値を掛けなければなりません。
Yajirushi 3:486fb90dc7d5 533 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 2:2af83d3ccd97 534 *
Yajirushi 3:486fb90dc7d5 535 * @~english
Yajirushi 3:486fb90dc7d5 536 * At the specified step count, run the motor rotation.
Yajirushi 2:2af83d3ccd97 537 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 538 * @param count Steps count. If using Microstep-mode, "count" must be multiplied by Microstep-value.
Yajirushi 2:2af83d3ccd97 539 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 3:486fb90dc7d5 540 *
Yajirushi 2:2af83d3ccd97 541 * Example:
Yajirushi 3:486fb90dc7d5 542 * @code
Yajirushi 3:486fb90dc7d5 543 * l6470.stop(1);
Yajirushi 3:486fb90dc7d5 544 * l6470.setStepMode(1, 0x07); //set microstep-mode 0x07 = 1/128 microstep.
Yajirushi 3:486fb90dc7d5 545 * l6470.step(1, 256, false); //(256/128)=2 step, counter cloclwise.
Yajirushi 3:486fb90dc7d5 546 * @endcode
Yajirushi 2:2af83d3ccd97 547 */
Yajirushi 0:e1964b6e160c 548 void step(int motorNumber, unsigned int count, bool isClockwise);
Yajirushi 2:2af83d3ccd97 549
Yajirushi 4:4127dd195311 550 /** Run motor move@n
Yajirushi 3:486fb90dc7d5 551 * @~japanese
Yajirushi 3:486fb90dc7d5 552 * 指定したステップの数だけモーターを回します
Yajirushi 3:486fb90dc7d5 553 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 554 * @param stepsCount 回転させるステップ数。マイクロステップモードを使用している場合は、その値を掛けなければなりません。
Yajirushi 3:486fb90dc7d5 555 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 556 * ステップ数が5未満 の場合 -> 関数 "step(int motorNumber, unsigned int count, bool isClockwise)" を使用
Yajirushi 3:486fb90dc7d5 557 * ステップ数が5以上 の場合 -> この関数を使用したほうがいい(ズレが生じるため)
Yajirushi 2:2af83d3ccd97 558 *
Yajirushi 3:486fb90dc7d5 559 * @~english
Yajirushi 3:486fb90dc7d5 560 * At the specified step count, run the motor rotation.
Yajirushi 2:2af83d3ccd97 561 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 562 * @param stepsCount Steps count. If using Microstep-mode, "stepsCount" must be multiplied by Microstep-value.
Yajirushi 2:2af83d3ccd97 563 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 2:2af83d3ccd97 564 * If less than 5step -> Please use the "step(int motorNumber, unsigned int count, bool isClockwise)".
Yajirushi 2:2af83d3ccd97 565 * If greater than 5step -> Please use this method.
Yajirushi 2:2af83d3ccd97 566 */
Yajirushi 0:e1964b6e160c 567 void move(int motorNumber, unsigned long stepsCount, bool isClockwise);
Yajirushi 2:2af83d3ccd97 568
Yajirushi 4:4127dd195311 569 /** Go to motor ABS position (shortest path)@n
Yajirushi 3:486fb90dc7d5 570 * @~japanese
Yajirushi 3:486fb90dc7d5 571 * 最短パスで指定した座標まで回転します
Yajirushi 3:486fb90dc7d5 572 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 573 * @param ABSPos 停止させる絶対座標
Yajirushi 3:486fb90dc7d5 574 * 注意: 絶対座標への回転方向は不定です。移動距離が短いほうに回転します。
Yajirushi 2:2af83d3ccd97 575 *
Yajirushi 3:486fb90dc7d5 576 * @~english
Yajirushi 3:486fb90dc7d5 577 * Motor rotation to the specified position in the shortest path.
Yajirushi 2:2af83d3ccd97 578 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 579 * @param ABSPos Motor Absolute position.
Yajirushi 2:2af83d3ccd97 580 * CAUTION: This method a motion to ABS position through the shortest path.　Rotate direction is not constant.
Yajirushi 2:2af83d3ccd97 581 */
Yajirushi 0:e1964b6e160c 582 void goto1(int motorNumber, unsigned long ABSPos);
Yajirushi 2:2af83d3ccd97 583
Yajirushi 4:4127dd195311 584 /** Go to motor ABS position (Specify the rotate direction)@n
Yajirushi 3:486fb90dc7d5 585 * @~japanese
Yajirushi 3:486fb90dc7d5 586 * 指定した座標まで回転します
Yajirushi 3:486fb90dc7d5 587 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 588 * @param ABSPos 停止させる絶対座標
Yajirushi 3:486fb90dc7d5 589 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 2:2af83d3ccd97 590 *
Yajirushi 3:486fb90dc7d5 591 * @~english
Yajirushi 3:486fb90dc7d5 592 * Motor rotation to the specified position.
Yajirushi 2:2af83d3ccd97 593 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 594 * @param ABSPos Motor Absolute position.
Yajirushi 2:2af83d3ccd97 595 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 2:2af83d3ccd97 596 */
Yajirushi 0:e1964b6e160c 597 void goto2(int motorNumber, unsigned long ABSPos, bool isClockwise);
Yajirushi 2:2af83d3ccd97 598
Yajirushi 2:2af83d3ccd97 599 /** ???Run motor rotate. Until external switch status change???
Yajirushi 3:486fb90dc7d5 600 * @~japanese
Yajirushi 3:486fb90dc7d5 601 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 602 * @param hex_speed 16進数指定でのモーターの回転速度(step毎秒) 。関数 "calcSpd(stepPerSecond)" を使用して16進数換算の値を求めてください。
Yajirushi 3:486fb90dc7d5 603 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 604 * @param setMark 外部スイッチのステータス？ ごめん。よくわかんないからデータシート見てね。
Yajirushi 2:2af83d3ccd97 605 *
Yajirushi 3:486fb90dc7d5 606 * @~english
Yajirushi 2:2af83d3ccd97 607 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 608 * @param hex_speed Motor rotate speed(hex_value Step/s). -> please use "calcSpd(stepPerSecond)" method.
Yajirushi 2:2af83d3ccd97 609 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 2:2af83d3ccd97 610 * @param setMark External switch status?...??.. Sorry... I could not understand. Please see L6470 datasheet.
Yajirushi 2:2af83d3ccd97 611 */
Yajirushi 0:e1964b6e160c 612 void goUntil(int motorNumber, unsigned long hex_speed, bool isClockwise, bool setMark);
Yajirushi 2:2af83d3ccd97 613
Yajirushi 2:2af83d3ccd97 614 /** ???Release external switch???
Yajirushi 3:486fb90dc7d5 615 * @~japanese
Yajirushi 3:486fb90dc7d5 616 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 617 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 618 * @param setMark 外部スイッチのステータス？ ごめん。よくわかんないからデータシート見てね。
Yajirushi 2:2af83d3ccd97 619 *
Yajirushi 3:486fb90dc7d5 620 * @~english
Yajirushi 2:2af83d3ccd97 621 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 622 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 2:2af83d3ccd97 623 * @param setMark External switch status?...??.. Sorry... I could not understand. Please see L6470 datasheet.
Yajirushi 2:2af83d3ccd97 624 */
Yajirushi 0:e1964b6e160c 625 void releaseSwitch(int motorNumber, bool isClockwise, bool setMark);
Yajirushi 2:2af83d3ccd97 626
Yajirushi 4:4127dd195311 627 /** Go to motor home-position@n
Yajirushi 3:486fb90dc7d5 628 * @~japanese
Yajirushi 3:486fb90dc7d5 629 * モーターを原点復帰させます
Yajirushi 3:486fb90dc7d5 630 * @param motorNumber　1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 631 *
Yajirushi 3:486fb90dc7d5 632 * @~english
Yajirushi 3:486fb90dc7d5 633 * Return the motor to the zero-potition.
Yajirushi 2:2af83d3ccd97 634 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 635 */
Yajirushi 0:e1964b6e160c 636 void home(int motorNumber);
Yajirushi 2:2af83d3ccd97 637
Yajirushi 4:4127dd195311 638 /** Go to motor home-position [alias: home(int motorNumber)]@n
Yajirushi 3:486fb90dc7d5 639 * @~japanese
Yajirushi 3:486fb90dc7d5 640 * モーターを原点復帰させます
Yajirushi 3:486fb90dc7d5 641 * @param motorNumber　1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 642 *
Yajirushi 3:486fb90dc7d5 643 * @~english
Yajirushi 3:486fb90dc7d5 644 * Return the motor to the zero-potition.
Yajirushi 2:2af83d3ccd97 645 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 646 */
Yajirushi 0:e1964b6e160c 647 void zero(int motorNumber);
Yajirushi 2:2af83d3ccd97 648
Yajirushi 4:4127dd195311 649 /** Go to motor marked-position@n
Yajirushi 3:486fb90dc7d5 650 * @~japanese
Yajirushi 3:486fb90dc7d5 651 * 指定されたマーク位置まで回転します
Yajirushi 3:486fb90dc7d5 652 * @param motorNumber　1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 653 * マーク位置: -> 関数 "setMarkPosition(int motorNumber, unsigned long value)" を使用してください
Yajirushi 2:2af83d3ccd97 654 *
Yajirushi 3:486fb90dc7d5 655 * @~english
Yajirushi 3:486fb90dc7d5 656 * Motor rotation to the specified MARK Position.
Yajirushi 2:2af83d3ccd97 657 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 658 * MARK Position: -> Please use setMarkPosition(int motorNumber, unsigned long value).
Yajirushi 2:2af83d3ccd97 659 */
Yajirushi 0:e1964b6e160c 660 void gotoMark(int motorNumber);
Yajirushi 2:2af83d3ccd97 661
Yajirushi 4:4127dd195311 662 /** Reset the ABS_POS register to zero (ABS_POS zero = home-position)@n
Yajirushi 3:486fb90dc7d5 663 * @~japanese
Yajirushi 3:486fb90dc7d5 664 * 現在位置を原点に設定します
Yajirushi 3:486fb90dc7d5 665 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 666 *
Yajirushi 3:486fb90dc7d5 667 * @~english
Yajirushi 3:486fb90dc7d5 668 * Set the zero-position to current position.
Yajirushi 2:2af83d3ccd97 669 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 670 */
Yajirushi 0:e1964b6e160c 671 void resetHome(int motorNumber);
Yajirushi 2:2af83d3ccd97 672
Yajirushi 4:4127dd195311 673 /** Reset the ABS_POS register to zero (ABS_POS zero = home-position) [alias: resetHome(int motorNumber)]@n
Yajirushi 3:486fb90dc7d5 674 * @~japanese
Yajirushi 3:486fb90dc7d5 675 * キューに追加:現在位置を原点に設定します
Yajirushi 3:486fb90dc7d5 676 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 677 *
Yajirushi 3:486fb90dc7d5 678 * @~english
Yajirushi 3:486fb90dc7d5 679 * Set the zero-position to current position.
Yajirushi 2:2af83d3ccd97 680 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 681 */
Yajirushi 0:e1964b6e160c 682 void resetZero(int motorNumber);
Yajirushi 2:2af83d3ccd97 683
Yajirushi 4:4127dd195311 684 /** Reset L6470.(software reset)@n
Yajirushi 3:486fb90dc7d5 685 * @~japanese
Yajirushi 3:486fb90dc7d5 686 * デバイスをリセットします
Yajirushi 3:486fb90dc7d5 687 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 688 *
Yajirushi 3:486fb90dc7d5 689 * @~english
Yajirushi 3:486fb90dc7d5 690 * Reset L6470 driver & motor.
Yajirushi 2:2af83d3ccd97 691 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 692 */
Yajirushi 0:e1964b6e160c 693 void motorReset(int motorNumber);
Yajirushi 2:2af83d3ccd97 694
Yajirushi 4:4127dd195311 695 /** Stop rotation (soft-stop)@n
Yajirushi 3:486fb90dc7d5 696 * @~japanese
Yajirushi 3:486fb90dc7d5 697 * モーターを停止
Yajirushi 3:486fb90dc7d5 698 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 699 *
Yajirushi 3:486fb90dc7d5 700 * @~english
Yajirushi 3:486fb90dc7d5 701 * Stop motor.
Yajirushi 2:2af83d3ccd97 702 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 703 */
Yajirushi 0:e1964b6e160c 704 void stop(int motorNumber);
Yajirushi 2:2af83d3ccd97 705
Yajirushi 4:4127dd195311 706 /** Stop rotation. Ignore deceleration (hard-stop)@n
Yajirushi 3:486fb90dc7d5 707 * @~japanese
Yajirushi 3:486fb90dc7d5 708 * 減速を無視して停止
Yajirushi 3:486fb90dc7d5 709 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 710 *
Yajirushi 3:486fb90dc7d5 711 * @~english
Yajirushi 3:486fb90dc7d5 712 * Stop immediately motor.
Yajirushi 2:2af83d3ccd97 713 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 714 */
Yajirushi 0:e1964b6e160c 715 void stopImmidiate(int motorNumber);
Yajirushi 2:2af83d3ccd97 716
Yajirushi 4:4127dd195311 717 /** Stop rotation (soft-stop) state sets HighImpedance.@n
Yajirushi 3:486fb90dc7d5 718 * @~japanese
Yajirushi 3:486fb90dc7d5 719 * モーターを停止し、実行後ハイインピーダンス状態にします
Yajirushi 3:486fb90dc7d5 720 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 721 *
Yajirushi 3:486fb90dc7d5 722 * @~english
Yajirushi 3:486fb90dc7d5 723 * Stop motor. Set state "High Impedance" after stop.
Yajirushi 2:2af83d3ccd97 724 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 725 */
Yajirushi 0:e1964b6e160c 726 void stop_HighImpedance(int motorNumber);
Yajirushi 2:2af83d3ccd97 727
Yajirushi 4:4127dd195311 728 /** Stop rotation. Ignore deceleration (hard-stop) state sets HighImpedance.@n
Yajirushi 3:486fb90dc7d5 729 * @~japanese
Yajirushi 3:486fb90dc7d5 730 * 減速を無視して停止し、実行後ハイインピーダンス状態にします
Yajirushi 3:486fb90dc7d5 731 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 2:2af83d3ccd97 732 *
Yajirushi 3:486fb90dc7d5 733 * @~english
Yajirushi 3:486fb90dc7d5 734 * Stop immediately motor. Set state "High Impedance" after stop.
Yajirushi 2:2af83d3ccd97 735 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 2:2af83d3ccd97 736 */
Yajirushi 0:e1964b6e160c 737 void stopImmidiate_HighImpedance(int motorNumber);
Yajirushi 0:e1964b6e160c 738
Yajirushi 3:486fb90dc7d5 739 //Daisy-chain Queue Method -----------------------------------------------------
Yajirushi 4:4127dd195311 740 /** Enqueue Command [NOP]@n
Yajirushi 3:486fb90dc7d5 741 * @~japanese
Yajirushi 3:486fb90dc7d5 742 * キューに追加:何も実行しない
Yajirushi 3:486fb90dc7d5 743 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 744 *
Yajirushi 3:486fb90dc7d5 745 * @~english
Yajirushi 3:486fb90dc7d5 746 * Add Queue:No operation.
Yajirushi 3:486fb90dc7d5 747 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 748 */
Yajirushi 3:486fb90dc7d5 749 int ENQ_nop(int motorNumber);
Yajirushi 3:486fb90dc7d5 750
Yajirushi 4:4127dd195311 751 /** Enqueue Command [run]@n
Yajirushi 3:486fb90dc7d5 752 * @~japanese
Yajirushi 3:486fb90dc7d5 753 * キューに追加:モーターを指定した速度で回転させます
Yajirushi 3:486fb90dc7d5 754 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 755 * @param hex_speed 16進数指定でのモーターの回転速度(step毎秒) 。関数 "calcSpd(stepPerSecond)" を使用して16進数換算の値を求めてください。
Yajirushi 3:486fb90dc7d5 756 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 757 *
Yajirushi 3:486fb90dc7d5 758 * @~english
Yajirushi 3:486fb90dc7d5 759 * Add Queue:At the specified speed, run the motor rotation.
Yajirushi 3:486fb90dc7d5 760 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 761 * @param hex_speed Motor rotate speed(hex_value Step/s). -> please use "calcSpd(stepPerSecond)" method.
Yajirushi 3:486fb90dc7d5 762 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 3:486fb90dc7d5 763 *
Yajirushi 3:486fb90dc7d5 764 * Example:
Yajirushi 3:486fb90dc7d5 765 * @code
Yajirushi 3:486fb90dc7d5 766 * unsigned long calculatedValue = l6470.calcSpd(200); //Calculated "hex value" from "real value".
Yajirushi 3:486fb90dc7d5 767 * l6470.ENQ_run(1, calculatedValue, true); //200step/s, clockwise
Yajirushi 3:486fb90dc7d5 768 * l6470.ENQ_NOP(2);
Yajirushi 3:486fb90dc7d5 769 * l6470.Qexec();
Yajirushi 3:486fb90dc7d5 770 * @endcode
Yajirushi 3:486fb90dc7d5 771 */
Yajirushi 3:486fb90dc7d5 772 int ENQ_run(int motorNumber, unsigned long hex_speed, bool isClockwise);
Yajirushi 3:486fb90dc7d5 773
Yajirushi 4:4127dd195311 774 /** Enqueue Command [move]@n
Yajirushi 3:486fb90dc7d5 775 * @~japanese
Yajirushi 3:486fb90dc7d5 776 * キューに追加:指定したステップの数だけモーターを回します
Yajirushi 3:486fb90dc7d5 777 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 778 * @param stepsCount 回転させるステップ数。マイクロステップモードを使用している場合は、その値を掛けなければなりません。
Yajirushi 3:486fb90dc7d5 779 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 780 *
Yajirushi 3:486fb90dc7d5 781 * @~english
Yajirushi 3:486fb90dc7d5 782 * Add Queue:At the specified step count, run the motor rotation.
Yajirushi 3:486fb90dc7d5 783 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 784 * @param stepsCount Steps count. If using Microstep-mode, "stepsCount" must be multiplied by Microstep-value.
Yajirushi 3:486fb90dc7d5 785 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 3:486fb90dc7d5 786 *
Yajirushi 3:486fb90dc7d5 787 * Example:
Yajirushi 3:486fb90dc7d5 788 * @code
Yajirushi 3:486fb90dc7d5 789 * l6470.stop(1);
Yajirushi 3:486fb90dc7d5 790 * l6470.setStepMode(1, 0x07); //set microstep-mode 0x07 = 1/128 microstep.
Yajirushi 3:486fb90dc7d5 791 * l6470.step(1, 256, false); //(256/128)=2 step, counter cloclwise.
Yajirushi 3:486fb90dc7d5 792 * l6470.step(2, 1024, true); //(1024/128)=8 step, clockwise.
Yajirushi 3:486fb90dc7d5 793 * l6470.Qexec();
Yajirushi 3:486fb90dc7d5 794 * @endcode
Yajirushi 3:486fb90dc7d5 795 */
Yajirushi 3:486fb90dc7d5 796 int ENQ_move(int motorNumber, unsigned long stepsCount, bool isClockwise);
Yajirushi 3:486fb90dc7d5 797
Yajirushi 4:4127dd195311 798 /** Enqueue Command [Goto] (shortest path)@n
Yajirushi 3:486fb90dc7d5 799 * @~japanese
Yajirushi 3:486fb90dc7d5 800 * キューに追加:最短パスで指定した座標まで回転します
Yajirushi 3:486fb90dc7d5 801 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 802 * @param ABSPos 停止させる絶対座標
Yajirushi 3:486fb90dc7d5 803 * 注意: 絶対座標への回転方向は不定です。移動距離が短いほうに回転します。
Yajirushi 3:486fb90dc7d5 804 *
Yajirushi 3:486fb90dc7d5 805 * @~english
Yajirushi 3:486fb90dc7d5 806 * Add Queue:Motor rotation to the specified position in the shortest path.
Yajirushi 3:486fb90dc7d5 807 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 808 * @param ABSPos Motor Absolute position.
Yajirushi 3:486fb90dc7d5 809 * CAUTION: This method a motion to ABS position through the shortest path.　Rotate direction is not constant.
Yajirushi 3:486fb90dc7d5 810 */
Yajirushi 3:486fb90dc7d5 811 int ENQ_goto1(int motorNumber, unsigned long ABSPos);
Yajirushi 3:486fb90dc7d5 812
Yajirushi 4:4127dd195311 813 /** Enqueue Command [Goto]@n
Yajirushi 3:486fb90dc7d5 814 * @~japanese
Yajirushi 3:486fb90dc7d5 815 * キューに追加:最短パスで指定した座標まで回転します
Yajirushi 3:486fb90dc7d5 816 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 817 * @param ABSPos 停止させる絶対座標
Yajirushi 3:486fb90dc7d5 818 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 819 *
Yajirushi 3:486fb90dc7d5 820 * @~english
Yajirushi 3:486fb90dc7d5 821 * Add Queue:Motor rotation to the specified position.
Yajirushi 3:486fb90dc7d5 822 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 823 * @param ABSPos Motor Absolute position.
Yajirushi 3:486fb90dc7d5 824 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 3:486fb90dc7d5 825 */
Yajirushi 3:486fb90dc7d5 826 int ENQ_goto2(int motorNumber, unsigned long ABSPos, bool isClockwise);
Yajirushi 3:486fb90dc7d5 827
Yajirushi 4:4127dd195311 828 /** Enqueue Command [???go Until]@n
Yajirushi 3:486fb90dc7d5 829 * @~japanese
Yajirushi 3:486fb90dc7d5 830 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 831 * @param hex_speed 16進数指定でのモーターの回転速度(step毎秒) 。関数 "calcSpd(stepPerSecond)" を使用して16進数換算の値を求めてください。
Yajirushi 3:486fb90dc7d5 832 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 833 * @param setMark 外部スイッチのステータス？ ごめん。よくわかんないからデータシート見てね。
Yajirushi 3:486fb90dc7d5 834 *
Yajirushi 3:486fb90dc7d5 835 * @~english
Yajirushi 3:486fb90dc7d5 836 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 837 * @param hex_speed Motor rotate speed(hex_value Step/s). -> please use "calcSpd(stepPerSecond)" method.
Yajirushi 3:486fb90dc7d5 838 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 3:486fb90dc7d5 839 * @param setMark External switch status?...??.. Sorry... I could not understand. Please see L6470 datasheet.
Yajirushi 3:486fb90dc7d5 840 */
Yajirushi 3:486fb90dc7d5 841 int ENQ_goUntil(int motorNumber, unsigned long hex_speed, bool isClockwise, bool setMark);
Yajirushi 3:486fb90dc7d5 842
Yajirushi 4:4127dd195311 843 /** Enqueue Command [???Release external switch]@n
Yajirushi 3:486fb90dc7d5 844 * @~japanese
Yajirushi 3:486fb90dc7d5 845 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 846 * @param isClockwise 回転方向。true = 時計まわり. false = 反時計回り。(メーカーによって回転方向が違うかも)
Yajirushi 3:486fb90dc7d5 847 * @param setMark 外部スイッチのステータス？ ごめん。よくわかんないからデータシート見てね。
Yajirushi 3:486fb90dc7d5 848 *
Yajirushi 3:486fb90dc7d5 849 * @~english
Yajirushi 3:486fb90dc7d5 850 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 851 * @param isClockwise Rotate direction. true = clockwise. false = counter-clockwise.
Yajirushi 3:486fb90dc7d5 852 * @param setMark External switch status?...??.. Sorry... I could not understand. Please see L6470 datasheet.
Yajirushi 3:486fb90dc7d5 853 */
Yajirushi 3:486fb90dc7d5 854 int ENQ_releaseSwitch(int motorNumber, bool isClockwise, bool setMark);
Yajirushi 3:486fb90dc7d5 855
Yajirushi 4:4127dd195311 856 /** Enqueue Command [Goto HOME]@n
Yajirushi 3:486fb90dc7d5 857 * @~japanese
Yajirushi 3:486fb90dc7d5 858 * キューに追加:モーターを原点復帰させます
Yajirushi 3:486fb90dc7d5 859 * @param motorNumber　1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 860 *
Yajirushi 3:486fb90dc7d5 861 * @~english
Yajirushi 3:486fb90dc7d5 862 * Add Queue:Return the motor to the zero-potition.
Yajirushi 3:486fb90dc7d5 863 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 864 */
Yajirushi 3:486fb90dc7d5 865 int ENQ_home(int motorNumber);
Yajirushi 3:486fb90dc7d5 866
Yajirushi 4:4127dd195311 867 /** Enqueue Command [Goto HOME] [aliase: ENQ_home(int motorNumber)]@n
Yajirushi 3:486fb90dc7d5 868 * @~japanese
Yajirushi 3:486fb90dc7d5 869 * キューに追加:モーターを原点復帰させます
Yajirushi 3:486fb90dc7d5 870 * @param motorNumber　1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 871 *
Yajirushi 3:486fb90dc7d5 872 * @~english
Yajirushi 3:486fb90dc7d5 873 * Add Queue:Return the motor to the zero-potition.
Yajirushi 3:486fb90dc7d5 874 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 875 */
Yajirushi 3:486fb90dc7d5 876 int ENQ_zero(int motorNumber);
Yajirushi 3:486fb90dc7d5 877
Yajirushi 4:4127dd195311 878 /** Enqueue Command [Goto MARK]@n
Yajirushi 3:486fb90dc7d5 879 * @~japanese
Yajirushi 3:486fb90dc7d5 880 * キューに追加:指定されたマーク位置まで回転します
Yajirushi 3:486fb90dc7d5 881 * @param motorNumber　1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 882 * マーク位置: -> 関数 "setMarkPosition(int motorNumber, unsigned long value)" を使用してください
Yajirushi 3:486fb90dc7d5 883 *
Yajirushi 3:486fb90dc7d5 884 * @~english
Yajirushi 3:486fb90dc7d5 885 * Add Queue:Motor rotation to the specified MARK Position.
Yajirushi 3:486fb90dc7d5 886 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 887 * MARK Position: -> Please use setMarkPosition(int motorNumber, unsigned long value).
Yajirushi 3:486fb90dc7d5 888 */
Yajirushi 3:486fb90dc7d5 889 int ENQ_gotoMark(int motorNumber);
Yajirushi 3:486fb90dc7d5 890
Yajirushi 4:4127dd195311 891 /** Enqueue Command [Reset HOME] (ABS_POS zero = home-position)@n
Yajirushi 3:486fb90dc7d5 892 * @~japanese
Yajirushi 3:486fb90dc7d5 893 * キューに追加:現在位置を原点に設定します
Yajirushi 3:486fb90dc7d5 894 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 895 *
Yajirushi 3:486fb90dc7d5 896 * @~english
Yajirushi 3:486fb90dc7d5 897 * Add Queue:Set the zero-position to current position.
Yajirushi 3:486fb90dc7d5 898 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 899 */
Yajirushi 3:486fb90dc7d5 900 int ENQ_resetHome(int motorNumber);
Yajirushi 3:486fb90dc7d5 901
Yajirushi 4:4127dd195311 902 /** Enqueue Command [Reset HOME] [alias: ENQ_resetHome(int motorNumber)]@n
Yajirushi 3:486fb90dc7d5 903 * @~japanese
Yajirushi 3:486fb90dc7d5 904 * キューに追加:現在位置を原点に設定します
Yajirushi 3:486fb90dc7d5 905 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 906 *
Yajirushi 3:486fb90dc7d5 907 * @~english
Yajirushi 3:486fb90dc7d5 908 * Add Queue:Set the zero-position to current position.
Yajirushi 3:486fb90dc7d5 909 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 910 */
Yajirushi 3:486fb90dc7d5 911 int ENQ_resetZero(int motorNumber);
Yajirushi 0:e1964b6e160c 912
Yajirushi 4:4127dd195311 913 /** Enqueue Command [Reset L6470] (software reset)@n
Yajirushi 3:486fb90dc7d5 914 * @~japanese
Yajirushi 3:486fb90dc7d5 915 * キューに追加:デバイスをリセットします
Yajirushi 3:486fb90dc7d5 916 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 917 *
Yajirushi 3:486fb90dc7d5 918 * @~english
Yajirushi 3:486fb90dc7d5 919 * Add Queue:Reset L6470 driver & motor.
Yajirushi 3:486fb90dc7d5 920 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 921 */
Yajirushi 3:486fb90dc7d5 922 int ENQ_motorReset(int motorNumber);
Yajirushi 3:486fb90dc7d5 923
Yajirushi 4:4127dd195311 924 /** Enqueue Command [stop] (soft-stop)@n
Yajirushi 3:486fb90dc7d5 925 * @~japanese
Yajirushi 3:486fb90dc7d5 926 * キューに追加:モーターを停止
Yajirushi 3:486fb90dc7d5 927 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 928 *
Yajirushi 3:486fb90dc7d5 929 * @~english
Yajirushi 3:486fb90dc7d5 930 * Add Queue:Stop motor.
Yajirushi 3:486fb90dc7d5 931 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 932 */
Yajirushi 3:486fb90dc7d5 933 int ENQ_stop(int motorNumber);
Yajirushi 3:486fb90dc7d5 934
Yajirushi 4:4127dd195311 935 /** Enqueue Command [hard stop]@n
Yajirushi 3:486fb90dc7d5 936 * @~japanese
Yajirushi 3:486fb90dc7d5 937 * キューに追加:減速を無視して停止
Yajirushi 3:486fb90dc7d5 938 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 939 *
Yajirushi 3:486fb90dc7d5 940 * @~english
Yajirushi 3:486fb90dc7d5 941 * Add Queue:Stop immediately motor.
Yajirushi 3:486fb90dc7d5 942 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 943 */
Yajirushi 3:486fb90dc7d5 944 int ENQ_stopImmidiate(int motorNumber);
Yajirushi 3:486fb90dc7d5 945
Yajirushi 4:4127dd195311 946 /** Enqueue Command [HIZ stop]@n
Yajirushi 3:486fb90dc7d5 947 * @~japanese
Yajirushi 3:486fb90dc7d5 948 * キューに追加:モーターを停止し、実行後ハイインピーダンス状態にします
Yajirushi 3:486fb90dc7d5 949 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 950 *
Yajirushi 3:486fb90dc7d5 951 * @~english
Yajirushi 3:486fb90dc7d5 952 * Add Queue:Stop motor. Set state "High Impedance" after stop.
Yajirushi 3:486fb90dc7d5 953 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 954 */
Yajirushi 3:486fb90dc7d5 955 int ENQ_stop_HighImpedance(int motorNumber);
Yajirushi 3:486fb90dc7d5 956
Yajirushi 4:4127dd195311 957 /** Enqueue Command [HIZ hard stop]@n
Yajirushi 3:486fb90dc7d5 958 * @~japanese
Yajirushi 3:486fb90dc7d5 959 * キューに追加:減速を無視して停止し、実行後ハイインピーダンス状態にします
Yajirushi 3:486fb90dc7d5 960 * @param motorNumber 1から始まるモーター番号(デイジーチェーン接続していない場合は1を指定)
Yajirushi 3:486fb90dc7d5 961 *
Yajirushi 3:486fb90dc7d5 962 * @~english
Yajirushi 3:486fb90dc7d5 963 * Add Queue:Stop immediately motor. Set state "High Impedance" after stop.
Yajirushi 3:486fb90dc7d5 964 * @param motorNumber Chained motor-number. If not using daisy-chain, you must be motorNumber = 1.
Yajirushi 3:486fb90dc7d5 965 */
Yajirushi 3:486fb90dc7d5 966 int ENQ_stopImmidiate_HighImpedance(int motorNumber);
Yajirushi 3:486fb90dc7d5 967
Yajirushi 4:4127dd195311 968 /** Clear Queue@n
Yajirushi 3:486fb90dc7d5 969 * @~japanese コマンドキューを全てクリアします
Yajirushi 3:486fb90dc7d5 970 * @~english Command Queue all zero clear.
Yajirushi 3:486fb90dc7d5 971 */
Yajirushi 3:486fb90dc7d5 972 void Qclear();
Yajirushi 3:486fb90dc7d5 973
Yajirushi 4:4127dd195311 974 /** Execute Queue@n
Yajirushi 3:486fb90dc7d5 975 * @~japanese
Yajirushi 3:486fb90dc7d5 976 * コマンドキューに格納されたコマンドを一度に実行します
Yajirushi 3:486fb90dc7d5 977 * @param finallyClearQueue 実行後にキューをクリアする(デフォルトはtrue)
Yajirushi 3:486fb90dc7d5 978 *
Yajirushi 3:486fb90dc7d5 979 * @~english
Yajirushi 3:486fb90dc7d5 980 * Execute Command Queue.
Yajirushi 3:486fb90dc7d5 981 * @param finallyClearQueue Clear Queue after execution.(default=true)
Yajirushi 3:486fb90dc7d5 982 */
Yajirushi 3:486fb90dc7d5 983 int Qexec(bool finallyClearQueue=true);
Yajirushi 3:486fb90dc7d5 984
Yajirushi 3:486fb90dc7d5 985 // calc method -----------------------------------------------------------------
Yajirushi 4:4127dd195311 986 /** Caluculate HEX value from Speed value@n
Yajirushi 3:486fb90dc7d5 987 * @~japanese
Yajirushi 3:486fb90dc7d5 988 * 速度(step/s)をパラメーター用数値に変換します
Yajirushi 3:486fb90dc7d5 989 * @param stepPerSecond 回転速度(step/s)
Yajirushi 3:486fb90dc7d5 990 *
Yajirushi 3:486fb90dc7d5 991 * @returns 変換された16進数値
Yajirushi 3:486fb90dc7d5 992 *
Yajirushi 3:486fb90dc7d5 993 * @~english
Yajirushi 3:486fb90dc7d5 994 * Convert to Param(Hex) value from real speed value(step/s).
Yajirushi 3:486fb90dc7d5 995 * @param stepPerSecond Motor rotate speed(step/s).
Yajirushi 3:486fb90dc7d5 996 *
Yajirushi 3:486fb90dc7d5 997 * @returns Converted value.
Yajirushi 3:486fb90dc7d5 998 */
Yajirushi 3:486fb90dc7d5 999 unsigned long calcSpd(float stepPerSecond);
Yajirushi 3:486fb90dc7d5 1000
Yajirushi 4:4127dd195311 1001 /** Caluculate HEX value from Acceleration speed value@n
Yajirushi 3:486fb90dc7d5 1002 * @~japanese
Yajirushi 3:486fb90dc7d5 1003 * 加速速度(step/s^2)をパラメーター用数値に変換します
Yajirushi 3:486fb90dc7d5 1004 * @param stepPerSecond 加速速度(step/s^2)
Yajirushi 3:486fb90dc7d5 1005 *
Yajirushi 3:486fb90dc7d5 1006 * @returns 変換された16進数値
Yajirushi 3:486fb90dc7d5 1007 *
Yajirushi 3:486fb90dc7d5 1008 * @~english
Yajirushi 3:486fb90dc7d5 1009 * Convert to Param(Hex) value from acceleration speed value(step/s^2).
Yajirushi 3:486fb90dc7d5 1010 * @param stepPerSecond rotate acceleration　speed(step/s^2).
Yajirushi 3:486fb90dc7d5 1011 *
Yajirushi 3:486fb90dc7d5 1012 * @returns Converted value.
Yajirushi 3:486fb90dc7d5 1013 */
Yajirushi 3:486fb90dc7d5 1014 unsigned short calcAcc(float stepPerSecond_2);
Yajirushi 3:486fb90dc7d5 1015
Yajirushi 4:4127dd195311 1016 /** Caluculate HEX value from Deceleration speed value@n
Yajirushi 3:486fb90dc7d5 1017 * @~japanese
Yajirushi 3:486fb90dc7d5 1018 * 減速速度(step/s^2)をパラメーター用数値に変換します
Yajirushi 3:486fb90dc7d5 1019 * @param stepPerSecond 減速速度(step/s^2)
Yajirushi 3:486fb90dc7d5 1020 *
Yajirushi 3:486fb90dc7d5 1021 * @returns 変換された16進数値
Yajirushi 3:486fb90dc7d5 1022 *
Yajirushi 3:486fb90dc7d5 1023 * @~english
Yajirushi 3:486fb90dc7d5 1024 * Convert to Param(Hex) value from deceleration speed value(step/s^2).
Yajirushi 3:486fb90dc7d5 1025 * @param stepPerSecond rotate deceleration　speed(step/s^2).
Yajirushi 3:486fb90dc7d5 1026 *
Yajirushi 3:486fb90dc7d5 1027 * @returns Converted value.
Yajirushi 3:486fb90dc7d5 1028 */
Yajirushi 3:486fb90dc7d5 1029 unsigned short calcDec(float stepPerSecond_2);
Yajirushi 3:486fb90dc7d5 1030
Yajirushi 4:4127dd195311 1031 /** Caluculate HEX value from MAX speed value@n
Yajirushi 3:486fb90dc7d5 1032 * @~japanese
Yajirushi 3:486fb90dc7d5 1033 * 最大速度(step/s)をパラメーター用数値に変換します
Yajirushi 3:486fb90dc7d5 1034 * @param stepPerSecond 最大回転速度(step/s)
Yajirushi 3:486fb90dc7d5 1035 *
Yajirushi 3:486fb90dc7d5 1036 * @returns 変換された16進数値
Yajirushi 3:486fb90dc7d5 1037 *
Yajirushi 3:486fb90dc7d5 1038 * @~english
Yajirushi 3:486fb90dc7d5 1039 * Convert to Param(Hex) value from maximum speed value(step/s).
Yajirushi 3:486fb90dc7d5 1040 * @param stepPerSecond Motor rotate maximum speed(step/s).
Yajirushi 3:486fb90dc7d5 1041 *
Yajirushi 3:486fb90dc7d5 1042 * @returns Converted value.
Yajirushi 3:486fb90dc7d5 1043 */
Yajirushi 3:486fb90dc7d5 1044 unsigned short calcMaxSpd(float stepPerSecond);
Yajirushi 3:486fb90dc7d5 1045
Yajirushi 4:4127dd195311 1046 /** Caluculate HEX value from MIN speed value@n
Yajirushi 3:486fb90dc7d5 1047 * @~japanese
Yajirushi 3:486fb90dc7d5 1048 * 最低速度(step/s)をパラメーター用数値に変換します
Yajirushi 3:486fb90dc7d5 1049 * @param stepPerSecond 最低回転速度(step/s)
Yajirushi 3:486fb90dc7d5 1050 *
Yajirushi 3:486fb90dc7d5 1051 * @returns 変換された16進数値
Yajirushi 3:486fb90dc7d5 1052 *
Yajirushi 3:486fb90dc7d5 1053 * @~english
Yajirushi 3:486fb90dc7d5 1054 * Convert to Param(Hex) value from minimum speed value(step/s).
Yajirushi 3:486fb90dc7d5 1055 * @param stepPerSecond Motor rotate minimum speed(step/s).
Yajirushi 3:486fb90dc7d5 1056 *
Yajirushi 3:486fb90dc7d5 1057 * @returns Converted value.
Yajirushi 3:486fb90dc7d5 1058 */
Yajirushi 3:486fb90dc7d5 1059 unsigned short calcMinSpd(float stepPerSecond);
Yajirushi 3:486fb90dc7d5 1060
Yajirushi 4:4127dd195311 1061 /** Caluculate HEX value from acceleration and deceleration switched point speed@n
Yajirushi 3:486fb90dc7d5 1062 * @~japanese
Yajirushi 3:486fb90dc7d5 1063 * 加減速曲線が切り替わる速度を指定します
Yajirushi 3:486fb90dc7d5 1064 * @param stepPerSecond 加減速曲線が切り替わる速度(step/s)
Yajirushi 3:486fb90dc7d5 1065 *
Yajirushi 3:486fb90dc7d5 1066 * @returns 変換された16進数値
Yajirushi 3:486fb90dc7d5 1067 *
Yajirushi 3:486fb90dc7d5 1068 * @~english
Yajirushi 3:486fb90dc7d5 1069 * Convert to Param(Hex) value from acceleration and deceleration switched point speed(step/s).
Yajirushi 3:486fb90dc7d5 1070 * @param stepPerSecond switched point speed(step/s).
Yajirushi 3:486fb90dc7d5 1071 *
Yajirushi 3:486fb90dc7d5 1072 * @returns Converted value.
Yajirushi 3:486fb90dc7d5 1073 */
Yajirushi 3:486fb90dc7d5 1074 unsigned short calcIntSpd(float stepPerSecond);
Yajirushi 3:486fb90dc7d5 1075
Yajirushi 4:4127dd195311 1076 /** Caluculate HEX value from full-step mode switched point speed@n
Yajirushi 3:486fb90dc7d5 1077 * @~japanese
Yajirushi 3:486fb90dc7d5 1078 * フルステップモードに切り替わる速度を指定します
Yajirushi 3:486fb90dc7d5 1079 * @param stepPerSecond フルステップモードに切り替わる速度(step/s)
Yajirushi 3:486fb90dc7d5 1080 *
Yajirushi 3:486fb90dc7d5 1081 * @returns 変換された16進数値
Yajirushi 3:486fb90dc7d5 1082 *
Yajirushi 3:486fb90dc7d5 1083 * @~english
Yajirushi 3:486fb90dc7d5 1084 * Convert to Param(Hex) value from full-step mode switched point speed(step/s).
Yajirushi 3:486fb90dc7d5 1085 * @param stepPerSecond switched point speed(step/s).
Yajirushi 3:486fb90dc7d5 1086 *
Yajirushi 3:486fb90dc7d5 1087 * @returns Converted value.
Yajirushi 3:486fb90dc7d5 1088 */
Yajirushi 3:486fb90dc7d5 1089 unsigned short calcFullStepSpd(float stepPerSecond);
Yajirushi 3:486fb90dc7d5 1090
Yajirushi 3:486fb90dc7d5 1091 // set method ------------------------------------------------------------------
Yajirushi 0:e1964b6e160c 1092 void setAbsPosition(int motorNumber, unsigned long value); //絶対座標設定
Yajirushi 0:e1964b6e160c 1093 void setElecPosition(int motorNumber, unsigned short value); //マイクロステップ位置設定
Yajirushi 3:486fb90dc7d5 1094 void setMarkPosition(int motorNumber, unsigned long value); //マークポジション設定
Yajirushi 0:e1964b6e160c 1095 void setAcceleration(int motorNumber, unsigned short value); //加速設定
Yajirushi 0:e1964b6e160c 1096 void setDeceleration(int motorNumber, unsigned short value); //減速設定
Yajirushi 0:e1964b6e160c 1097 void setMaximumSpeed(int motorNumber, unsigned short value); //最大回転速度設定
Yajirushi 0:e1964b6e160c 1098 void setMinimumSpeed(int motorNumber, unsigned short value); //最低回転速度設定(普通はゼロ)
Yajirushi 0:e1964b6e160c 1099 void setHoldingKVAL(int motorNumber, unsigned char value); //モーター停止中の電圧
Yajirushi 0:e1964b6e160c 1100 void setRunningKVAL(int motorNumber, unsigned char value); //モーター駆動中の電圧
Yajirushi 0:e1964b6e160c 1101 void setAccelerationKVAL(int motorNumber, unsigned char value); //モーター加速中の電圧
Yajirushi 0:e1964b6e160c 1102 void setDecelerationKVAL(int motorNumber, unsigned char value); //モーター減速中の電圧
Yajirushi 0:e1964b6e160c 1103 void setKVAL( //モーターの電圧(一度に設定)
Yajirushi 0:e1964b6e160c 1104 int motorNumber,
Yajirushi 0:e1964b6e160c 1105 unsigned char holdVal, unsigned char runVal,
Yajirushi 0:e1964b6e160c 1106 unsigned char accVal, unsigned char decVal
Yajirushi 0:e1964b6e160c 1107 );
Yajirushi 0:e1964b6e160c 1108 void setInterpolateSpeed(int motorNumber, unsigned short value); //加減速補間を開始するスピード
Yajirushi 0:e1964b6e160c 1109 void setInterpolateSlope(int motorNumber, unsigned char value); //加減速補間の傾き
Yajirushi 0:e1964b6e160c 1110 void setAccSlopeFinal(int motorNumber, unsigned char value); //加速最終時の補間の傾き
Yajirushi 0:e1964b6e160c 1111 void setDecSlopeFinal(int motorNumber, unsigned char value); //減速最終時の補間の傾き
Yajirushi 0:e1964b6e160c 1112 void setThermoCorrect(int motorNumber, unsigned char value); //高温時の補正
Yajirushi 0:e1964b6e160c 1113 void setOCThreshold(int motorNumber, unsigned char value); //オーバーカレントの電流閾値
Yajirushi 0:e1964b6e160c 1114 void setStallThreshold(int motorNumber, unsigned char value); //ストールの電流閾値
Yajirushi 0:e1964b6e160c 1115 void setFSSpeed(int motorNumber, unsigned short value); //フルステップ駆動に切り替えるスピード
Yajirushi 0:e1964b6e160c 1116 void setStepMode(int motorNumber, unsigned char value); //マイクロステッピングモード指定
Yajirushi 0:e1964b6e160c 1117 void setAlermEnable(int motorNumber, unsigned char value); //アラームの有効無効
Yajirushi 0:e1964b6e160c 1118 void setSystemConfig(int motorNumber, unsigned short value); //ドライバシステム設定
Yajirushi 0:e1964b6e160c 1119
Yajirushi 3:486fb90dc7d5 1120 // get method ------------------------------------------------------------------
Yajirushi 0:e1964b6e160c 1121 unsigned long getSpeed(int motorNumber); //現在の回転スピード
Yajirushi 0:e1964b6e160c 1122 unsigned short getADC(int motorNumber); //ADCの取得
Yajirushi 0:e1964b6e160c 1123 unsigned short getStatus(int motorNumber); //ステータス読み取り
Yajirushi 0:e1964b6e160c 1124 unsigned long getAbsPosition(int motorNumber); //絶対座標
Yajirushi 0:e1964b6e160c 1125 unsigned short getElecPosition(int motorNumber); //マイクロステップ位置
Yajirushi 3:486fb90dc7d5 1126 unsigned long getMarkPosition(int motorNumber); //マークポジション
Yajirushi 0:e1964b6e160c 1127 unsigned short getAcceleration(int motorNumber); //加速
Yajirushi 0:e1964b6e160c 1128 unsigned short getDeceleration(int motorNumber); //減速
Yajirushi 0:e1964b6e160c 1129 unsigned short getMaximumSpeed(int motorNumber); //最大回転速度
Yajirushi 0:e1964b6e160c 1130 unsigned short getMinimumSpeed(int motorNumber); //最低回転速度(普通はゼロ)
Yajirushi 0:e1964b6e160c 1131 unsigned char getHoldingKVAL(int motorNumber); //モーター停止中の電圧
Yajirushi 0:e1964b6e160c 1132 unsigned char getRunningKVAL(int motorNumber); //モーター駆動中の電圧
Yajirushi 0:e1964b6e160c 1133 unsigned char getAccelerationKVAL(int motorNumber); //モーター加速中の電圧
Yajirushi 0:e1964b6e160c 1134 unsigned char getDecelerationKVAL(int motorNumber); //モーター減速中の電圧
Yajirushi 0:e1964b6e160c 1135 unsigned short getInterpolateSpeed(int motorNumber); //加減速補間を開始するスピード
Yajirushi 0:e1964b6e160c 1136 unsigned char getInterpolateSlope(int motorNumber); //加減速補間の傾き
Yajirushi 0:e1964b6e160c 1137 unsigned char getAccSlopeFinal(int motorNumber); //加速最終時の補間の傾き
Yajirushi 0:e1964b6e160c 1138 unsigned char getDecSlopeFinal(int motorNumber); //減速最終時の補間の傾き
Yajirushi 0:e1964b6e160c 1139 unsigned char getThermoCorrect(int motorNumber); //高温時の補正
Yajirushi 0:e1964b6e160c 1140 unsigned char getOCThreshold(int motorNumber); //オーバーカレントの電流閾値
Yajirushi 0:e1964b6e160c 1141 unsigned char getStallThreshold(int motorNumber); //ストールの電流閾値
Yajirushi 0:e1964b6e160c 1142 unsigned short getFSSpeed(int motorNumber); //フルステップ駆動に切り替えるスピード
Yajirushi 0:e1964b6e160c 1143 unsigned char getStepMode(int motorNumber); //マイクロステッピングモード
Yajirushi 0:e1964b6e160c 1144 unsigned char getAlermEnable(int motorNumber); //アラームの有効無効
Yajirushi 0:e1964b6e160c 1145 unsigned short getSystemConfig(int motorNumber); //ドライバシステム設定
Yajirushi 0:e1964b6e160c 1146 };
Yajirushi 0:e1964b6e160c 1147
Yajirushi 0:e1964b6e160c 1148 #endif