mirror of
https://github.com/eclipse/upm.git
synced 2025-03-14 20:47:30 +03:00
step_motor: Added new module
Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>
This commit is contained in:
parent
b291f372d7
commit
b03cbf4f36
@ -17,6 +17,7 @@ add_executable (accelerometer mma7455.cxx)
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add_executable (lcd st7735.cxx)
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add_executable (max31855-example max31855.cxx)
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add_executable (gy65-example gy65.cxx)
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add_executable (stepmotor-example step_motor_example.cxx)
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include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
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include_directories (${PROJECT_SOURCE_DIR}/src/grove)
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@ -32,6 +33,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/mma7455)
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include_directories (${PROJECT_SOURCE_DIR}/src/st7735)
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include_directories (${PROJECT_SOURCE_DIR}/src/max31855)
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include_directories (${PROJECT_SOURCE_DIR}/src/gy65)
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include_directories (${PROJECT_SOURCE_DIR}/src/step_motor)
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target_link_libraries (compass hmc5883l ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (groveled grove ${CMAKE_THREAD_LIBS_INIT})
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@ -52,3 +54,4 @@ target_link_libraries (accelerometer mma7455 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (lcd st7735 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (max31855-example max31855 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (gy65-example gy65 ${CMAKE_THREAD_LIBS_INIT})
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target_link_libraries (stepmotor-example step_motor ${CMAKE_THREAD_LIBS_INIT})
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73
examples/step_motor_example.cxx
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73
examples/step_motor_example.cxx
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@ -0,0 +1,73 @@
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <string.h>
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#include <unistd.h>
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#include <iostream>
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#include "step_motor.h"
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#include <signal.h>
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int doWork = 0;
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upm::StepMotor *sensor = NULL;
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void
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sig_handler(int signo)
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{
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printf("got signal\n");
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if (signo == SIGINT) {
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printf("exiting application\n");
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doWork = 1;
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}
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}
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int
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main(int argc, char **argv)
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{
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//! [Interesting]
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sensor = new upm::StepMotor(4, 6);
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while (!doWork) {
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sensor->setSpeed (500);
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sensor->stepForward (500);
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usleep (10000);
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sensor->stepBackwards (500);
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usleep (10000);
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sensor->setSpeed (750);
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sensor->stepForward (500);
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usleep (10000);
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sensor->stepBackwards (500);
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usleep (10000);
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sensor->setSpeed (1000);
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sensor->stepForward (500);
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usleep (10000);
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sensor->stepBackwards (500);
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usleep (10000);
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}
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delete sensor;
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//! [Interesting]
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return 0;
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}
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5
src/step_motor/CMakeLists.txt
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5
src/step_motor/CMakeLists.txt
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set (libname "step_motor")
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set (libdescription "upm STEP_MOTOR")
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set (module_src ${libname}.cxx)
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set (module_h ${libname}.h)
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upm_module_init()
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7
src/step_motor/jsupm_step_motor.i
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7
src/step_motor/jsupm_step_motor.i
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%module jsupm_step_motor
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%{
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#include "step_motor.h"
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%}
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%include "step_motor.h"
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10
src/step_motor/pyupm_step_motor.i
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10
src/step_motor/pyupm_step_motor.i
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%module pyupm_step_motor
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%include "stdint.i"
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%feature("autodoc", "3");
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%include "step_motor.h"
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%{
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#include "step_motor.h"
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%}
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127
src/step_motor/step_motor.cxx
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127
src/step_motor/step_motor.cxx
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@ -0,0 +1,127 @@
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <unistd.h>
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#include <stdlib.h>
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#include "step_motor.h"
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using namespace upm;
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StepMotor::StepMotor (int dirPin, int stePin) {
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maa_result_t error = MAA_SUCCESS;
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m_name = "StepMotor";
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maa_init();
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m_stePin = stePin;
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m_dirPin = dirPin;
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m_pwmStepContext = maa_pwm_init (m_stePin);
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m_dirPinCtx = maa_gpio_init (m_dirPin);
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if (m_dirPinCtx == NULL) {
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fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_dirPin);
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exit (1);
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}
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error = maa_gpio_dir (m_dirPinCtx, MAA_GPIO_OUT);
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if (error != MAA_SUCCESS) {
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maa_result_print (error);
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}
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}
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StepMotor::~StepMotor() {
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maa_result_t error = MAA_SUCCESS;
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maa_pwm_close (m_pwmStepContext);
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error = maa_gpio_close (m_dirPinCtx);
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if (error != MAA_SUCCESS) {
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maa_result_print(error);
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}
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}
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void
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StepMotor::setSpeed (int speed) {
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if (speed > MAX_PERIOD) {
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m_speed = MAX_PERIOD;
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}
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if (speed < MIN_PERIOD) {
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m_speed = MIN_PERIOD;
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}
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m_speed = speed;
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}
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maa_result_t
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StepMotor::stepForward (int ticks) {
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dirForward ();
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move (ticks);
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}
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maa_result_t
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StepMotor::stepBackwards (int ticks) {
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dirBackwards ();
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move (ticks);
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}
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maa_result_t
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StepMotor::move (int ticks) {
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maa_result_t error = MAA_SUCCESS;
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maa_pwm_enable (m_pwmStepContext, 1);
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for (int tick = 0; tick < ticks; tick++) {
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maa_pwm_period_us (m_pwmStepContext, m_speed);
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maa_pwm_pulsewidth_us (m_pwmStepContext, PULSEWIDTH);
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}
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maa_pwm_enable (m_pwmStepContext, 0);
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return error;
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}
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maa_result_t
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StepMotor::dirForward () {
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maa_result_t error = MAA_SUCCESS;
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error = maa_gpio_write (m_dirPinCtx, HIGH);
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if (error != MAA_SUCCESS) {
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maa_result_print (error);
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}
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return error;
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}
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maa_result_t
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StepMotor::dirBackwards () {
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maa_result_t error = MAA_SUCCESS;
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error = maa_gpio_write (m_dirPinCtx, LOW);
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if (error != MAA_SUCCESS) {
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maa_result_print (error);
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}
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return error;
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}
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101
src/step_motor/step_motor.h
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101
src/step_motor/step_motor.h
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@ -0,0 +1,101 @@
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/*
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* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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*
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* Credits to Adafruit.
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* Based on Adafruit BMP085 library.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <math.h>
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#include <maa/pwm.h>
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#include <maa/aio.h>
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#include <maa/gpio.h>
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#define MIN_PERIOD 500
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#define MAX_PERIOD 1000
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#define PULSEWIDTH 480
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#define HIGH 1
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#define LOW 0
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namespace upm {
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/**
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* @brief C++ API for StepMotor Drivers
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*
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* This file defines the step_motor C++ interface for libstep_motor
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*
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* @snippet step_motor_example.cxx Interesting
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*/
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class StepMotor {
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public:
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/**
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* Instanciates a StepMotor object
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*
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* @param dirPin direction pin
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* @param stePin steper pulse pin
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*/
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StepMotor (int dirPin, int stePin);
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/**
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* StepMotor object destructor.
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*/
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~StepMotor ();
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/**
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* Set the speed of rotation
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*
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* @param speed rotation speed
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*/
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void setSpeed (int speed);
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/**
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* Rotate motor forward
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*
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* @param ticks number of tickes the motor will move
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*/
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maa_result_t stepForward (int ticks);
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/**
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* Rotate motor backward
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*
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* @param ticks number of tickes the motor will move
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*/
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maa_result_t stepBackwards (int ticks);
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private:
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std::string m_name;
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int m_dirPin;
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int m_stePin;
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int m_speed;
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maa_gpio_context m_dirPinCtx;
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maa_pwm_context m_pwmStepContext;
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maa_result_t move (int ticks);
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maa_result_t dirForward ();
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maa_result_t dirBackwards ();
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};
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}
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