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ce6a095079
This change is due to commit 35760929dbb912fc3dfc738fee67c4f0dd63d55f from MRAA. Signed-off-by: Andrei Vasiliu <andrei.vasiliu@intel.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
125 lines
3.2 KiB
C++
125 lines
3.2 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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* 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 <string>
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#include <stdexcept>
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#include <unistd.h>
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#include <stdlib.h>
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#include "stepmotor.h"
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using namespace upm;
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StepMotor::StepMotor (int dirPin, int stePin)
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: m_pwmStepContext(stePin), m_dirPinCtx(dirPin) {
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mraa::Result error = mraa::SUCCESS;
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m_name = "StepMotor";
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m_stePin = stePin;
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m_dirPin = dirPin;
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m_pwmStepContext = mraa_pwm_init (m_stePin);
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if (m_pwmStepContext == NULL) {
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_pwm_init() failed, invalid pin?");
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return;
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}
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m_dirPinCtx = mraa_gpio_init (m_dirPin);
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if (m_dirPinCtx == NULL) {
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init() failed, invalid pin?");
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return;
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}
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error = m_dirPinCtx.dir (mraa::DIR_OUT);
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if (error != mraa::SUCCESS) {
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mraa::printError (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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mraa::Result
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StepMotor::stepForward (int ticks) {
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dirForward ();
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return move (ticks);
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}
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mraa::Result
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StepMotor::stepBackwards (int ticks) {
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dirBackwards ();
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return move (ticks);
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}
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mraa::Result
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StepMotor::move (int ticks) {
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mraa::Result error = mraa::SUCCESS;
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m_pwmStepContext.enable (1);
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for (int tick = 0; tick < ticks; tick++) {
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m_pwmStepContext.period_us (m_speed);
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m_pwmStepContext.pulsewidth_us (PULSEWIDTH);
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}
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m_pwmStepContext.enable (0);
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return error;
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}
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mraa::Result
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StepMotor::dirForward () {
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mraa::Result error = mraa::SUCCESS;
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error = m_dirPinCtx.write (HIGH);
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if (error != mraa::SUCCESS) {
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mraa::printError (error);
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}
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return error;
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}
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mraa::Result
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StepMotor::dirBackwards () {
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mraa::Result error = mraa::SUCCESS;
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error = m_dirPinCtx.write (LOW);
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if (error != mraa::SUCCESS) {
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mraa::printError (error);
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}
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return error;
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}
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