Revision 1:9888802e71b9, committed 2016-12-02

Comitter:

tbjazic

Date:

Fri Dec 02 08:35:20 2016 +0000

Parent:

0:12be56dc6182

Child:

2:70f593d34039

Commit message:

Number of sine periods set to 10.

Changed in this revision

--- a/StepperDriver.cpp	Thu Dec 01 13:35:45 2016 +0000
+++ b/StepperDriver.cpp	Fri Dec 02 08:35:20 2016 +0000
@@ -3,12 +3,24 @@
 
 StepperDriver::StepperDriver(PinName outputPin, PinName directionPin) : output(outputPin), direction(directionPin) {
     currentPosition = previousPosition = desiredPosition = 0;
-    maxPosition = 500;
-    minPosition = 0;
+    configure(1.8f, 0, 900);
     homePosition = (maxPosition - minPosition) / 2;
+    speed = 250;
+    pulseWidth = 100e-6;
 }
 
-void StepperDriver::setPosition(uint32_t position) {
+void StepperDriver::configure(uint32_t resolution, float minDegrees, float maxDegrees) {
+    setResolution(resolution);
+    setDegreesRange(minDegrees, maxDegrees);
+}
+
+void StepperDriver::configure(float resolution, float minDegrees, float maxDegrees) {
+    setResolution(resolution);
+    setDegreesRange(minDegrees, maxDegrees);
+}
+
+void StepperDriver::setPosition(float desiredDegrees) {
+    uint32_t position = desiredDegrees / degreesPerStep + 0.5f; // rounding
     if (position >= minPosition && position <= maxPosition) {
         desiredPosition = position;
     }
@@ -17,6 +29,10 @@
     }
 }
 
+float StepperDriver::getPosition() {
+    return currentPosition * degreesPerStep;
+}
+
 void StepperDriver::update() {
     if (desiredPosition > currentPosition) {
         direction = 1;
@@ -33,7 +49,7 @@
 }
 
 void StepperDriver::attachTicker() {
-    ticker.attach(this, &StepperDriver::update, 4e-3);
+    ticker.attach(this, &StepperDriver::update, 1/speed);
     isTickerAttached = true;
 }
 
@@ -44,9 +60,46 @@
 
 void StepperDriver::generateImpulse() {
     output = 1;
-    timeout.attach(this, &StepperDriver::turnOutputOff, 100e-6);
+    timeout.attach(this, &StepperDriver::turnOutputOff, pulseWidth);
 }
 
 void StepperDriver::turnOutputOff() {
     output = 0;
+}
+
+void StepperDriver::setResolution(uint32_t resolution) {
+    degreesPerStep = 360.0f / resolution;
+}
+
+void StepperDriver::setResolution(float resolution) {
+    degreesPerStep = resolution;
+}
+
+void StepperDriver::setDegreesRange(float minDegrees, float maxDegrees) {
+    minPosition = 0;
+    maxPosition = minPosition + 1/degreesPerStep * (maxDegrees - minDegrees);
+}
+
+void StepperDriver::setSpeedSPS(float speedSPS) {
+    speed = speedSPS;
+}
+
+void StepperDriver::setSpeedRPS(float speedRPS) {
+    speed = speedRPS * 360 / degreesPerStep;
+}
+
+void StepperDriver::setSpeedRPM(float speedRPM) {
+    speed = speedRPM / 60 * 360 / degreesPerStep;
+}
+
+float StepperDriver::getSpeedSPS() {
+    return speed;
+}
+
+float StepperDriver::getSpeedRPS() {
+    return speed * degreesPerStep / 360;
+}
+
+float StepperDriver::getSpeedRPM() {
+    return speed * degreesPerStep / 360 * 60;
 }
\ No newline at end of file

--- a/StepperDriver.h	Thu Dec 01 13:35:45 2016 +0000
+++ b/StepperDriver.h	Fri Dec 02 08:35:20 2016 +0000
@@ -3,14 +3,82 @@
 
 #include "mbed.h"
 
+/** A class for driving a stepper motor in open loop.
+  * A driver must contain an indexer and sequencer.
+  * Each generated pulse moves the rotor by one step in a given direction.
+  */
 class StepperDriver {
+    
     public:
-    StepperDriver(PinName, PinName);
-    void setPosition(uint32_t);
+    
+    /** Constructor receives output pin and direction pin.
+      * @param outputPin DigitalOut pin for sending pulses to the driver.
+      * @param directionPin DigitalOut pin for setting a direction of rotation.
+      */
+    StepperDriver(PinName outputPin, PinName directionPin);
+    
+    /** Sets the motor resolution in steps per revolution (uint32_t) and minimum and maximum 
+      * angle in degrees (angles range).
+      * @param resolution Resolution of the stepper motor in steps per revolution (uint32_t). 
+      * Typical value is 200 steps per revolution, and that value is set by default in this class.
+      * @param minDegrees Minimum angle in degrees.
+      * @param maxDegrees Maximum angle in degrees.
+      */
+    void configure(uint32_t resolution, float minDegrees, float maxDegrees);
+    
+    /** Sets the motor resolution in degrees per step (float) and minimum and maximum 
+      * angle in degrees (angles range). 
+      * @param resolution Resolution of the stepper motor in degrees per step (float).
+      * Typical value is 1.8 degrees per step, and that value is set by default in this class.
+      * @param minDegrees Minimum angle in degrees.
+      * @param maxDegrees Maximum angle in degrees.
+      */
+    void configure(float resolution, float minDegrees, float maxDegrees);
+    
+    /** Sets the position in degrees.
+      * @param desiredPosition Desired position in degrees.
+      */
+    void setPosition(float desiredPosition);
     
-    private:
+    /** Get the current position in degrees.
+      * @returns Current position in degrees.
+      */
+    float getPosition();
+    
+    /** Set the speed in rpm (revolutions per minute). 
+      * @param speedRPM Motor speed in rpm (revolutions per minute).
+      */
+    void setSpeedRPM(float speedRPM);
+    
+    /** Set the speed in revolutions per second. 
+      * @param speedRPS Motor speed in revolutions per second.
+      */
+    void setSpeedRPS(float speedRPS);
+    
+    /** Set the speed in steps per second. 
+      * @param speedSPS Motor speed in rpm (revolutions per minute).
+      */
+    void setSpeedSPS(float speedSPS);
+    
+    /** Get the speed in rpm (revolutions per minute). 
+      * @returns Motor speed in rpm (revolutions per minute).
+      */
+    float getSpeedRPM();
+    
+    /** Get the speed in revolutions per second. 
+      * @returns Motor speed in revolutions per second.
+      */
+    float getSpeedRPS();
+    
+    /** Get the speed in steps per second. 
+      * @returns Motor speed in steps per second.
+      */
+    float getSpeedSPS();
+    
+    protected:
     DigitalOut output, direction;
     uint32_t currentPosition, previousPosition, homePosition, minPosition, maxPosition, desiredPosition;
+    float degreesPerStep, pulseWidth, speed;
     Ticker ticker;
     Timeout timeout;
     void update();
@@ -19,6 +87,9 @@
     void generateImpulse();
     void turnOutputOff();
     bool isTickerAttached;
+    void setResolution(uint32_t resolution);
+    void setResolution(float resolution);
+    void setDegreesRange(float minDegrees, float maxDegrees);
 };
 
 #endif
\ No newline at end of file