Tedd OKANO / StepperMotorUni

Unipolar stepper motor operation library

Dependents:   LAB04_Oppgave1 test_stepper Stepper_Motor_Demo StepperMotorUni_Hello ... more

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StepperMotorUni Class Reference
Public Types | Public Member Functions

StepperMotorUni Class Reference

Stepper Motor (Unipolar) control library. More...

#include <StepperMotorUni.h>

Public Types

enum  OperationPhaseMode { ONE_PHASE, TWO_PHASE, HALFSTEP }
 

Constants for motor rotate mode.

More...
enum  RotMode { SHORTEST, NO_WRAPAROUND, CLOCKWISE_ONLY, COUNTER_CLOCKWISE_ONLY }
 

Constants for motor rotate mode.

More...
enum  SyncMode { ASYNCHRONOUS, SYNCHRONOUS }
 

Constants for syncronization mode.

More...
enum  PositionDetectPorarity { RISING_EDGE, FALLING_EDGE }
 

Constants for position detection edge polarity.

More...
enum  BrakeMode { SOFT_BRAKE, HARD_BRAKE }
 

Constants for position detection edge polarity.

More...

Public Member Functions

 StepperMotorUni (PinName out_A, PinName out_B, PinName out_C, PinName out_D, PinName position_detect=NC)
 Create a stepper motor object connected to specified DigitalOut pins and a DigitalIn pin.
float set_pps (float v)
 Set the pulse width (i.e.
void set_max_pps (float v)
 Set maximum PPS (= minimum pulse width) which will be used in finding home position.
int find_home_position (PositionDetectPorarity edge)
 Find home position: rotate the motor until the detection edge comes.
void set_home_position (void)
 Update home position.
int go_position (int v)
 Turn the motor to defined position (by steps from home position)
void go_angle (float angle)
 Turn the motor to defined position (by angle (degree)) from home position)
int move_steps (int s)
 Turn the motor to defined position (by steps from current position)
int move_rotates (float r)
 Turn the motor to defined rotation (from current position)
void set_operation_phase_mode (OperationPhaseMode v)
 Interface for opertion phase mode setting.
void set_rot_mode (RotMode m)
 Interface for motor rotate mode setting.
void set_sync_mode (SyncMode m)
 Interface for syncronization mode setting.
int distance (void)
 Check remaining distance that motor need to move.
void set_pause (int sw)
 Pause/Resume the motor action.
void brake (void)
 Pause/Resume the motor action.
void set_power_ctrl (int sw)
 Auto power control enable.
void set_steps_per_rotate (int steps)
 Setting for steps/rotate.
void set_ramp_control (float initial_speed_rate, int ramp_steps)
 Setting for ramp control.

Detailed Description

Stepper Motor (Unipolar) control library.

Author:
Tedd OKANO
Version:
1.1.3
Date:
13-Sep-2017

Copyright: 2010, 2014, 2015, 2017 Tedd OKANO Released under the Apache 2 license License

The library that controls stepper motor via motor driver chip This is a driver for a unipolar stepper motor.

Example: 

  #include "mbed.h"
  #include "StepperMotorUni.h"

  StepperMotorUni motor( p26, p25, p24, p23 );

  int main()
  {
      motor.set_pps( 50 );

      while ( 1 ) {
          motor.move_steps( 24 );
          wait( 1 );

          motor.move_steps( -24 );
          wait( 1 );
      }
  }

version 0.51 (27-Nov-2010) // initial version (un-published) version 0.6 (15-Jan-2014) // compatible to LPC1768, LPC11U24 and LPC1114 targets version 1.0 (19-Jun-2014) // version 1.0 release version 1.0.1 (14-Apr-2015) // API document correction version 1.1 (21-Apr-2015) // ramp control function enabled version 1.1.1 (22-Apr-2015) // fixed: find_home_position compatibility with ramp control feature version 1.1.2 (27-Apr-2015) // fixed: init_done behavior version 1.1.3 (13-Sep-2017) // fixed: keeping stopped position while power_ctrl is set false

Definition at line 53 of file StepperMotorUni.h.

Member Enumeration Documentation

enum BrakeMode

Constants for position detection edge polarity.

Enumerator:
SOFT_BRAKE 

brake with slowing down

HARD_BRAKE 

for immedate stop

Definition at line 84 of file StepperMotorUni.h.

enum OperationPhaseMode

Constants for motor rotate mode.

Enumerator:
ONE_PHASE 

1 phase operation (default)

TWO_PHASE 

2 phase operation

HALFSTEP 

halfstep operation

Definition at line 58 of file StepperMotorUni.h.

enum PositionDetectPorarity

Constants for position detection edge polarity.

Enumerator:
RISING_EDGE 

position detection done by rising edge

FALLING_EDGE 

position detection done by falling edge

Definition at line 78 of file StepperMotorUni.h.

enum RotMode

Constants for motor rotate mode.

Enumerator:
SHORTEST 

turn by shortest direction (default)

NO_WRAPAROUND 

do not accross home position

CLOCKWISE_ONLY 

one-way: clockwise turn

COUNTER_CLOCKWISE_ONLY 

one-way: counter clockwise turn

Definition at line 65 of file StepperMotorUni.h.

enum SyncMode

Constants for syncronization mode.

Enumerator:
ASYNCHRONOUS 

program does wait motor turn completion (default)

SYNCHRONOUS 

program doesn't wait motor turn completion

Definition at line 72 of file StepperMotorUni.h.

Constructor & Destructor Documentation

StepperMotorUni ( PinName  out_A,
PinName  out_B,
PinName  out_C,
PinName  out_D,
PinName  position_detect = NC 
)

Create a stepper motor object connected to specified DigitalOut pins and a DigitalIn pin.

Parameters:
out_ADigitalOut pin for motor pulse signal-A
out_BDigitalOut pin for motor pulse signal-B
out_CDigitalOut pin for motor pulse signal-C
out_DDigitalOut pin for motor pulse signal-D
position_detectDigitalIn pin for home position detection (option). if not defined, "find_home_position()" function cannot be used

Definition at line 48 of file StepperMotorUni.cpp.

Member Function Documentation

void brake ( void   )

Pause/Resume the motor action.

Parameters:
swuse "true" for pause, "false" (default) for resume

Definition at line 227 of file StepperMotorUni.cpp.

int distance ( void   )

Check remaining distance that motor need to move.

software can check if the motor action completed in asynchronous mode

Returns:
remaining steps that motor need to go

Definition at line 217 of file StepperMotorUni.cpp.

int find_home_position ( PositionDetectPorarity  edge )

Find home position: rotate the motor until the detection edge comes.

Turns the motor until the home position detected. The "home position" is a reference point for the step and angle. It will be step=0 and angle=0. The detection signal edge can be defined by an argument. It follows the rotate mode. When the edge is detected, the motor will be stopped and it will be the new home position. If no detection signal detected, no home position update done.

Parameters:
edgedefines detection edge rise or fall

Definition at line 94 of file StepperMotorUni.cpp.

void go_angle ( float  angle )

Turn the motor to defined position (by angle (degree)) from home position)

Make motor move to absolute position

Parameters:
vthe position defined by steps from home position

Definition at line 169 of file StepperMotorUni.cpp.

int go_position ( int  v )

Turn the motor to defined position (by steps from home position)

Make motor move to absolute position

Parameters:
vthe position defined by steps from home position

Definition at line 332 of file StepperMotorUni.cpp.

int move_rotates ( float  r )

Turn the motor to defined rotation (from current position)

Make motor rotate

Parameters:
rnumber of rotation start from current position

Definition at line 180 of file StepperMotorUni.cpp.

int move_steps ( int  s )

Turn the motor to defined position (by steps from current position)

Make motor move to defined position

Parameters:
vthe position defined by steps from current position

Definition at line 174 of file StepperMotorUni.cpp.

void set_home_position ( void   )

Update home position.

Set the home position as current motor position.

Definition at line 159 of file StepperMotorUni.cpp.

void set_max_pps ( float  v )

Set maximum PPS (= minimum pulse width) which will be used in finding home position.

Parameters:
vmaximum pulse per second : lower number makes the turn slower (default = 100)

Definition at line 89 of file StepperMotorUni.cpp.

void set_operation_phase_mode ( OperationPhaseMode  v )

Interface for opertion phase mode setting.

Parameters:
vDriving phase mode change : ONE_PHASE (default), TWO_PHASE or HALFSTEP

Definition at line 186 of file StepperMotorUni.cpp.

void set_pause ( int  sw )

Pause/Resume the motor action.

Parameters:
swuse "true" for pause, "false" (default) for resume

Definition at line 222 of file StepperMotorUni.cpp.

void set_power_ctrl ( int  sw )

Auto power control enable.

If the auto power control is enabled, the motor power will be turned-off when it stays same place

Parameters:
swuse "true" for pause, "false" (default) for resume

Definition at line 256 of file StepperMotorUni.cpp.

float set_pps ( float  v )

Set the pulse width (i.e.

motor turning speed)

Parameters:
vpulse per second (pps) : lower number makes the turn slower (default = 100)

Definition at line 78 of file StepperMotorUni.cpp.

void set_ramp_control ( float  initial_speed_rate,
int  ramp_steps 
)

Setting for ramp control.

This function enables the ramp-up and ramp-down of the motor behavior

Parameters:
initial_speed_ratespeed rate. if the pps was set to 50pps and initial_speed_rate is given like 0.1, the ramp-up-start and ramp-dowm-end speed will be 5pps (= 0.1 * 50pps)
ramp_stepsthe steps for ramp-up and ramp-down.

Definition at line 266 of file StepperMotorUni.cpp.

void set_rot_mode ( RotMode  m )

Interface for motor rotate mode setting.

Example: 

  StepperMotor    m( p21, p22, p23, p24 );
  int main() {
      m.set_rot_mode( StepperMotor::NO_WRAPAROUND );
      ...
Parameters:
mmotor rotate mode : SHORTEST (default), NO_WRAPAROUND, CLOCKWISE_ONLY or COUNTER_CLOCKWISE_ONLY

Definition at line 207 of file StepperMotorUni.cpp.

void set_steps_per_rotate ( int  steps )

Setting for steps/rotate.

This parameter is required if program want to use the "go_angle()" interface. The angle will be calculated from this parameter.

Parameters:
stepsper rotate

Definition at line 261 of file StepperMotorUni.cpp.

void set_sync_mode ( SyncMode  m )

Interface for syncronization mode setting.

Example: 

  StepperMotor    m( p21, p22, p23, p24 );
  int main() {
      m.set_sync_mode( StepperMotor::NO_WRAPAROUND );
      ...
Parameters:
mmotor rotate mode : ASYNCHRONOUS (default) or SYNCHRONOUS

Definition at line 212 of file StepperMotorUni.cpp.

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