Stepper motor control class library
Dependents: StepperMotor_HelloWorld
Components pages
Components pages are available for bipolar
and unipolar
motor libraries
Diff: StepperMotor.h
- Revision:
- 1:dc6cf8f8bcb7
- Parent:
- 0:4beb37ae37ce
--- a/StepperMotor.h Thu Nov 25 11:11:51 2010 +0000 +++ b/StepperMotor.h Fri Nov 26 15:32:25 2010 +0000 @@ -1,5 +1,9 @@ /** Stepper Motor control library * + * @class StepperMotor + * @author Tedd OKANO + * @version 0.51(27-Nov-2010) + * * Copyright: 2010 Tedd OKANO, Tsukimidai Communications Syndicate - Crawl Design * The library that controls stepper motor via motor driver chip: TA7774 * The TA7774 is a driver for a bipolar stepper motor. @@ -11,7 +15,7 @@ #include "mbed.h" -#define MAX_PPS 50 // pulse per second +#define MAX_PPS 100 // pulse per second /** Stepper Motor control class * @@ -23,6 +27,7 @@ * StepperMotor m( p21, p22, p23, p24 ); * * int main() { + * m.set_steps_per_rotate( 480 ); * m.set_sync_mode( StepperMotor::SYNCHRONOUS ); * m.set_power_ctrl( true ); * @@ -88,15 +93,15 @@ /** Set the pulse width (i.e. motor turning speed) * - * @param v pulse per second : default is 100. lower number makes the turn slower + * @param v pulse per second : lower number makes the turn slower (default = 100) */ - int set_pps( int v ); + float set_pps( float v ); /** Set maximum PPS (= minimum pulse width) which will be used in finding home position * - * @param v maximum pulse per second : default is 100. lower number makes the turn slower + * @param v maximum pulse per second : lower number makes the turn slower (default = 100) */ - void set_max_pps( int v ); + void set_max_pps( float v ); /** Find home position: rotate the motor until the detection edge comes. * @@ -125,7 +130,7 @@ */ int go_position( int v ); - /** Turn the motor to defined position (by angle (0.0..360 degree) from home position) + /** Turn the motor to defined position (by angle (degree)) from home position) * * Make motor move to absolute position * @@ -151,7 +156,7 @@ * ... * @endcode * - * @param m motor rotate mode : SHORTEST, NO_WRAPAROUND, CLOCKWISE_ONLY or COUNTER_CLOCKWISE_ONLY + * @param m motor rotate mode : SHORTEST (default), NO_WRAPAROUND, CLOCKWISE_ONLY or COUNTER_CLOCKWISE_ONLY */ void set_rot_mode( RotMode m ); @@ -165,7 +170,7 @@ * ... * @endcode * - * @param m motor rotate mode : ASYNCHRONOUS or SYNCHRONOUS + * @param m motor rotate mode : ASYNCHRONOUS (default) or SYNCHRONOUS */ void set_sync_mode( SyncMode m ); @@ -179,7 +184,7 @@ /** Pause/Resume the motor action * - * @param sw use "true" for pause, "false" for resume + * @param sw use "true" for pause, "false" (default) for resume */ void set_pause( int sw ); @@ -187,7 +192,7 @@ * * If the auto power control is enabled, the motor power will be turned-off when it stays same place * - * @param sw use "true" for pause, "false" for resume + * @param sw use "true" for pause, "false" (default) for resume */ void set_power_ctrl( int sw ); @@ -214,8 +219,8 @@ int current_pos; int pos_offset; int target_pos; - int pps; - int max_pps; + float pps; + float max_pps; int init_done; int pause; int power_ctrl;