Home | History | Annotate | Download | only in stepmotor 
      1 /*
      2  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha (at) intel.com>
      3  * Copyright (c) 2014 Intel Corporation.
      4  *
      5  * Permission is hereby granted, free of charge, to any person obtaining
      6  * a copy of this software and associated documentation files (the
      7  * "Software"), to deal in the Software without restriction, including
      8  * without limitation the rights to use, copy, modify, merge, publish,
      9  * distribute, sublicense, and/or sell copies of the Software, and to
     10  * permit persons to whom the Software is furnished to do so, subject to
     11  * the following conditions:
     12  *
     13  * The above copyright notice and this permission notice shall be
     14  * included in all copies or substantial portions of the Software.
     15  *
     16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     18  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     19  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     20  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     21  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     22  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     23  */
     24 
     25 #include <iostream>
     26 #include <string>
     27 #include <stdexcept>
     28 #include <unistd.h>
     29 #include <stdlib.h>
     30 
     31 #include "stepmotor.h"
     32 
     33 using namespace upm;
     34 
     35 StepMotor::StepMotor (int dirPin, int stePin)
     36                     : m_pwmStepContext(stePin), m_dirPinCtx(dirPin) {
     37     mraa::Result error = mraa::SUCCESS;
     38     m_name = "StepMotor";
     39 
     40     m_stePin = stePin;
     41     m_dirPin = dirPin;
     42 
     43     error = m_dirPinCtx.dir (mraa::DIR_OUT);
     44     if (error != mraa::SUCCESS) {
     45         mraa::printError (error);
     46     }
     47 }
     48 
     49 void
     50 StepMotor::setSpeed (int speed) {
     51     if (speed > MAX_PERIOD) {
     52         m_speed = MAX_PERIOD;
     53     }
     54 
     55     if (speed < MIN_PERIOD) {
     56         m_speed = MIN_PERIOD;
     57     }
     58 
     59     m_speed = speed;
     60 }
     61 
     62 mraa::Result
     63 StepMotor::stepForward (int ticks) {
     64     dirForward ();
     65     return move (ticks);
     66 }
     67 
     68 mraa::Result
     69 StepMotor::stepBackwards (int ticks) {
     70     dirBackwards ();
     71     return move (ticks);
     72 }
     73 
     74 mraa::Result
     75 StepMotor::move (int ticks) {
     76     mraa::Result error = mraa::SUCCESS;
     77 
     78     m_pwmStepContext.enable (1);
     79     for (int tick = 0; tick < ticks; tick++) {
     80         m_pwmStepContext.period_us (m_speed);
     81         m_pwmStepContext.pulsewidth_us (PULSEWIDTH);
     82     }
     83     m_pwmStepContext.enable (0);
     84 
     85     return error;
     86 }
     87 
     88 mraa::Result
     89 StepMotor::dirForward () {
     90     mraa::Result error = mraa::SUCCESS;
     91 
     92     error = m_dirPinCtx.write (HIGH);
     93     if (error != mraa::SUCCESS) {
     94         mraa::printError (error);
     95     }
     96 
     97     return error;
     98 }
     99 
    100 mraa::Result
    101 StepMotor::dirBackwards () {
    102     mraa::Result error = mraa::SUCCESS;
    103 
    104     error = m_dirPinCtx.write (LOW);
    105     if (error != mraa::SUCCESS) {
    106         mraa::printError (error);
    107     }
    108 
    109     return error;
    110 }
    111