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stepmotor: made significant changes to stepper driver

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Fun to work on, I have maybe 3 different implementations for this one now.
Submitted version uses GPIOs only, no more PWM thus enhancing compatibility.
Fast writes and busy-wait delays ensure accuracy to a few μs when generating
the step pulses.

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Mihai Tudor Panu
2015-12-15 11:00:05 -08:00
parent 74691914fb
commit c8e80bf6a3
4 changed files with 220 additions and 101 deletions
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49
examples/c++/stepmotor.cxx
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@ -1,5 +1,6 @@
/*
* Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Authors: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
* Mihai Tudor Panu <mihai.tudor.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
@ -22,13 +23,14 @@
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <string.h>
#include <unistd.h>
#include <iostream>
#include "stepmotor.h"
#include <signal.h>
#include "stepmotor.h"
int doWork = 0;
using namespace std;
int doWork = 1;
upm::StepMotor *sensor = NULL;
void
@ -37,7 +39,7 @@ sig_handler(int signo)
printf("got signal\n");
if (signo == SIGINT) {
printf("exiting application\n");
doWork = 1;
doWork = 0;
}
}
@ -45,26 +47,29 @@ int
main(int argc, char **argv)
{
//! [Interesting]
sensor = new upm::StepMotor(4, 6);
sensor = new upm::StepMotor(2, 3);
while (!doWork) {
sensor->setSpeed (500);
sensor->stepForward (500);
usleep (10000);
sensor->stepBackwards (500);
usleep (10000);
while (doWork) {
cout << "1 Revolution forward and back at 60 rpm" << endl;
sensor->setSpeed (60);
sensor->stepForward(200);
usleep (1000000);
sensor->stepBackwards(200);
usleep (1000000);
sensor->setSpeed (750);
sensor->stepForward (500);
usleep (10000);
sensor->stepBackwards (500);
usleep (10000);
cout << "1 Revolution forward and back at 150 rpm" << endl;
sensor->setSpeed (150);
sensor->stepForward(200);
usleep (1000000);
sensor->stepBackwards(200);
usleep (1000000);
sensor->setSpeed (1000);
sensor->stepForward (500);
usleep (10000);
sensor->stepBackwards (500);
usleep (10000);
cout << "1 Revolution forward and back at 300 rpm" << endl;
sensor->setSpeed (300);
sensor->stepForward (200);
usleep (1000000);
sensor->stepBackwards (200);
usleep (1000000);
}
delete sensor;