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      1 /*
      2  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha (at) intel.com>
      3  * Copyright (c) 2014 Intel Corporation.
      4  *
      5  * Credits to Adafruit.
      6  * Based on Adafruit BMP085 library.
      7  *
      8  * Permission is hereby granted, free of charge, to any person obtaining
      9  * a copy of this software and associated documentation files (the
     10  * "Software"), to deal in the Software without restriction, including
     11  * without limitation the rights to use, copy, modify, merge, publish,
     12  * distribute, sublicense, and/or sell copies of the Software, and to
     13  * permit persons to whom the Software is furnished to do so, subject to
     14  * the following conditions:
     15  *
     16  * The above copyright notice and this permission notice shall be
     17  * included in all copies or substantial portions of the Software.
     18  *
     19  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     20  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     21  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     22  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     23  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     24  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     25  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     26  */
     27 #pragma once
     28 
     29 #include <string>
     30 #include <math.h>
     31 #include <mraa/pwm.hpp>
     32 #include <mraa/aio.hpp>
     33 #include <mraa/common.hpp>
     34 
     35 #include <mraa/gpio.hpp>
     36 
     37 #define MIN_PERIOD         500
     38 #define MAX_PERIOD         1000
     39 #define PULSEWIDTH         480
     40 
     41 #define HIGH               1
     42 #define LOW                0
     43 
     44 namespace upm {
     45 /**
     46  * @brief Stepper Motor library
     47  * @defgroup stepper libupm-stepper
     48  * @ingroup seeed sparkfun pwm gpio motor
     49  */
     50 /**
     51  * @library stepmotor
     52  * @sensor stepmotor
     53  * @comname Stepper Motor
     54  * @altname EasyDriver Stepper Motor Driver
     55  * @type motor
     56  * @man seeed sparkfun
     57  * @web http://www.schmalzhaus.com/EasyDriver/index.html
     58  * @con pwm gpio
     59  *
     60  * @brief API for the Stepper Motor
     61  *
     62  * This module defines the Stepper Motor interface. It is compatible with stepper
     63  * motor drivers that use 2 pins to control the motor, like an Easy Driver
     64  * from Brian Schmalz.
     65  *
     66  * @image html stepmotor.jpg
     67  * @snippet stepmotor.cxx Interesting
     68  */
     69 class StepMotor {
     70     public:
     71         /**
     72          * Instantiates a StepMotor object
     73          *
     74          * @param dirPin Direction GPIO pin
     75          * @param stePin Stepper pulse PWM pin
     76          */
     77         StepMotor (int dirPin, int stePin);
     78 
     79         /**
     80          * StepMotor object destructor
     81          * no need for the destructor; all the connections will be
     82          * closed when m_dirPinCtx and m_pwmStepContext go out of
     83          * scope
     84          * ~StepMotor ();
     85          **/
     86 
     87         /**
     88          * Sets the rotation speed
     89          *
     90          * @param speed Rotation speed
     91          */
     92         void setSpeed (int speed);
     93 
     94         /**
     95          * Rotates the motor forward
     96          *
     97          * @param ticks Number of ticks the motor moves
     98          */
     99         mraa::Result stepForward (int ticks);
    100 
    101         /**
    102          * Rotates the motor backward
    103          *
    104          * @param ticks Number of ticks the motor moves
    105          */
    106         mraa::Result stepBackwards (int ticks);
    107 
    108     private:
    109         std::string         m_name;
    110 
    111         int                 m_dirPin;
    112         int                 m_stePin;
    113         int                 m_speed;
    114 
    115         mraa::Gpio    m_dirPinCtx;
    116         mraa::Pwm     m_pwmStepContext;
    117 
    118         mraa::Result move (int ticks);
    119         mraa::Result dirForward ();
    120         mraa::Result dirBackwards ();
    121     };
    122 }
    123