You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
138 lines
3.2 KiB
138 lines
3.2 KiB
#ifndef _STEPPER_H
|
|
#define _STEPPER_H
|
|
|
|
#include <Arduino.h>
|
|
#include <Tone.h>
|
|
//#include <TimerOne.h>
|
|
|
|
|
|
class Stepper {
|
|
public:
|
|
virtual void begin(int dir_pin, int step_pin, int enable_pin);
|
|
virtual void writeSpeed(uint16_t freq, bool dir) = 0;
|
|
virtual void loop();
|
|
virtual void stop() = 0;
|
|
void enable();
|
|
void disable();
|
|
void setSpeed(int16_t speed);
|
|
virtual void setSpeedDirect(int16_t speed);
|
|
void setMaxSpeed(uint16_t max_speed);
|
|
void setAcceleration(uint16_t accel);
|
|
bool isAccelerating();
|
|
protected:
|
|
int dir_pin;
|
|
int step_pin;
|
|
int enable_pin;
|
|
uint16_t maxSpeed = 4000;
|
|
uint16_t acceleration = 2000;
|
|
int16_t targetSpeed = 0;
|
|
int16_t currentSpeed = 0;
|
|
unsigned long lastAccelMillis = 0;
|
|
};
|
|
|
|
class TimerStepper : public Stepper {
|
|
public:
|
|
void begin(int dir_pin, int step_pin, int enable_pin) override;
|
|
void writeSpeed(uint16_t freq, bool dir) override;
|
|
void setSpeedDirect(int16_t speed) override;
|
|
void stop() override;
|
|
void loop() override;
|
|
private:
|
|
Tone tone;
|
|
};
|
|
|
|
|
|
void Stepper::begin(int dir_pin, int step_pin, int enable_pin) {
|
|
this->dir_pin = dir_pin;
|
|
this->step_pin = step_pin;
|
|
this->enable_pin = enable_pin;
|
|
|
|
pinMode(dir_pin, OUTPUT);
|
|
pinMode(step_pin, OUTPUT);
|
|
pinMode(enable_pin, OUTPUT);
|
|
|
|
disable();
|
|
}
|
|
|
|
void Stepper::enable() {
|
|
digitalWrite(enable_pin, LOW);
|
|
}
|
|
|
|
void Stepper::disable() {
|
|
stop();
|
|
digitalWrite(enable_pin, HIGH);
|
|
}
|
|
|
|
void Stepper::setSpeed(int16_t speed) {
|
|
if ((speed > 0) && (speed > maxSpeed)) speed = maxSpeed;
|
|
else if ((speed < 0) && (-speed > maxSpeed)) speed = -maxSpeed;
|
|
else targetSpeed = speed;
|
|
}
|
|
|
|
void Stepper::setMaxSpeed(uint16_t max_speed) {
|
|
maxSpeed = max_speed;
|
|
}
|
|
|
|
void Stepper::setAcceleration(uint16_t accel) {
|
|
acceleration = accel;
|
|
}
|
|
|
|
bool Stepper::isAccelerating() {
|
|
if (currentSpeed != targetSpeed) return true;
|
|
else return false;
|
|
}
|
|
|
|
void TimerStepper::begin(int dir_pin, int step_pin, int enable_pin) {
|
|
Stepper::begin(dir_pin, step_pin, enable_pin);
|
|
tone.begin(step_pin);
|
|
}
|
|
|
|
void TimerStepper::writeSpeed(uint16_t freq, bool dir) {
|
|
enable();
|
|
digitalWrite(dir_pin, dir ? HIGH : LOW);
|
|
if (freq > 0) tone.play(freq);
|
|
else tone.stop();
|
|
}
|
|
|
|
void TimerStepper::setSpeedDirect(int16_t speed) {
|
|
uint16_t freq = abs(speed);
|
|
bool dir = (speed < 0);
|
|
|
|
writeSpeed(freq, dir);
|
|
}
|
|
|
|
void TimerStepper::stop() {
|
|
targetSpeed = 0;
|
|
currentSpeed = 0;
|
|
tone.stop();
|
|
}
|
|
|
|
void TimerStepper::loop() {
|
|
int16_t speedDiff = targetSpeed - currentSpeed;
|
|
int16_t increment = acceleration / 1000;
|
|
|
|
if (speedDiff == 0) return;
|
|
else if ( (speedDiff > 0) && ( speedDiff > increment)) currentSpeed += increment;
|
|
else if ( (speedDiff < 0) && (-speedDiff > increment)) currentSpeed -= increment;
|
|
else currentSpeed = targetSpeed;
|
|
|
|
/*
|
|
int16_t accelDelta = (millis()-lastAccelMillis)*acceleration/1000;
|
|
lastAccelMillis = millis();
|
|
if (accelDelta > ACCEL_CAP_PER_STEP) accelDelta = ACCEL_CAP_PER_STEP;
|
|
|
|
if (speedDiff > accelDelta) speedDiff = accelDelta;
|
|
else if (speedDiff < -accelDelta) speedDiff = -accelDelta;
|
|
currentSpeed += speedDiff;
|
|
*/
|
|
uint16_t freq = abs(currentSpeed);
|
|
bool dir = (currentSpeed < 0);
|
|
|
|
writeSpeed(freq, dir);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif /* _STEPPER_H */
|
|
|