Revision 0:27b548e34acc, committed 2010-11-01

Comitter:

franzachatz

Date:

Mon Nov 01 18:16:11 2010 +0000

Child:

1:ef0414c3ce83

Commit message:

Version 0.1

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stepper.cpp	Mon Nov 01 18:16:11 2010 +0000
@@ -0,0 +1,61 @@
+/* mbed Stepper Library
+ * Copyright (c) 2010 fachatz
+ *
+ * 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.
+ */
+#include "stepper.h"
+#include "mbed.h"
+
+ // define the Stepper Motor save start/stop speed 
+#define START_STOP_SPEED 300
+
+// define Library version number
+#define VERSION 0.1
+
+// led4, used for testing the direction signal
+DigitalOut led4(LED4);
+
+stepper::stepper(PinName clk, PinName dir) : _clk(clk), _dir(dir) {
+    _clk = 0, _dir = 0;
+}
+
+void stepper::step(int n_steps, bool direction, int speed, bool accel) {
+    int accelspeed;
+    if(accel) accelspeed = START_STOP_SPEED;
+    else accelspeed = speed;
+    for(int i=0; i<n_steps; i++) 
+    {
+        if(accel)//linear acceleration
+        {
+          if(i < START_STOP_SPEED) if (--accelspeed == speed) accelspeed ++; 
+          if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
+        }  
+        _dir = led4 = direction;
+        _clk = 1;
+        wait_us(1);
+        _clk = 0;
+        wait_us(1);
+        wait_us(accelspeed);
+    }
+}
+
+// version() returns the version number of the library
+float stepper::version(void) {
+    return VERSION;    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stepper.h	Mon Nov 01 18:16:11 2010 +0000
@@ -0,0 +1,86 @@
+/* mbed Stepper Library
+ * Copyright (c) 2010 fachatz
+ *
+ * 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.
+ */
+#ifndef MBED_STEPPER_H
+#define MBED_STEPPER_H
+
+#include "mbed.h"
+
+/** Stepper control class 
+ *
+ * Example:
+ * @code
+ * // apply number of steps, direction, speed and 
+ * // a linear accelleration on/off to a Stepper Motor Controller
+ * #include "mbed.h"
+ * #include "stepper.h"
+ *
+ * #define ACCEL_ON  1
+ * #define ACCEL_OFF 0
+ * #define SPEED 100
+ * 
+ * stepper x(P18,P21);
+ * stepper y(P19,P22);
+ * stepper z(P20,P23);
+ *
+ * int main()
+ * {
+ *   x.step(1000,1,SPEED,ACCEL_ON); 
+ *   y.step(5000,0,SPEED,ACCEL_ON); 
+ *   z.step(2000,1,SPEED,ACCEL_ON);
+ *
+ * }
+ * @endcode
+ */
+class stepper {
+
+public:
+
+    /** Create a stepper object connected to the specified clk pin and dir pin
+     *
+     * @param pin clk pin to connect to 
+     * @param pin dir pin to connect to  
+     */
+    stepper(PinName clk, PinName dir);
+    
+    /** Set number of steps to direction with speed and 
+     *  a linear accelleration on/off to a Stepper Motor Controller
+     *
+     * @param n_steps number of steps to go
+     * @param direction 1 or 0
+     * @param time value for value in us
+     * @param accel 1 or 0 for accel on/off
+     */
+    void step(int n_steps, bool direction, int speed, bool accel);  
+    
+    /** get version number
+     *
+     * @param returns Library version number
+     */
+    float version(void);   
+  
+private:  
+    DigitalOut _clk;
+    DigitalOut _dir;
+     
+};
+
+#endif
\ No newline at end of file