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ef74a7b137
Signed-off-by: Stefan Andritoiu <stefan.andritoiu@intel.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com> Conflicts: src/CMakeLists.txt
123 lines
3.5 KiB
C++
123 lines
3.5 KiB
C++
/*
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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 <mraa/pwm.hpp>
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#include <mraa/aio.hpp>
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#include <mraa/common.hpp>
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#include <mraa/gpio.hpp>
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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 Stepper Motor library
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* @defgroup stepper libupm-stepper
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* @ingroup seeed sparkfun pwm gpio motor
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*/
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/**
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* @library stepper
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* @sensor stepper
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* @comname Stepper Motor
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* @altname EasyDriver Stepper Motor Driver
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* @type motor
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* @man seeed sparkfun
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* @web http://www.schmalzhaus.com/EasyDriver/index.html
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* @con pwm gpio
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*
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* @brief API for the Stepper Motor
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*
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* This module defines the Stepper Motor interface. It is compatible with stepper
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* motor drivers that use 2 pins to control the motor, like an Easy Driver
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* from Brian Schmalz.
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*
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* @image html stepmotor.jpg
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* @snippet stepmotor.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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* Instantiates a StepMotor object
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*
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* @param dirPin Direction GPIO pin
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* @param stePin Stepper pulse PWM 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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* no need for the destructor; all the connections will be
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* closed when m_dirPinCtx and m_pwmStepContext go out of
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* scope
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* ~StepMotor ();
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**/
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/**
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* Sets the rotation speed
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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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* Rotates the motor forward
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*
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* @param ticks Number of ticks the motor moves
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*/
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mraa::Result stepForward (int ticks);
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/**
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* Rotates the motor backward
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*
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* @param ticks Number of ticks the motor moves
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*/
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mraa::Result 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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mraa::Gpio m_dirPinCtx;
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mraa::Pwm m_pwmStepContext;
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mraa::Result move (int ticks);
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mraa::Result dirForward ();
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mraa::Result dirBackwards ();
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};
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}
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