Stepper.h

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/* Copyright (c) 2022 Skyward Experimental Rocketry
 * Authors: Alberto Nidasio, Emilio Corigliano
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <drivers/timer/TimestampTimer.h>
#include <interfaces-impl/gpio_impl.h>
#include <interfaces/delays.h>
#include <utils/TestUtils/MockGpioPin.h>
 
#include "StepperData.h"
 
namespace Boardcore
{
 
class Stepper
{
public:
    enum class PinConfiguration
    {
        COMMON_ANODE,    
        COMMON_CATHODE,  
    };
 
    Stepper(
        miosix::GpioPin stepPin, miosix::GpioPin directionPin, float speed = 1,
        float stepAngle = 1.8, bool revertDirection = false,
        uint16_t microStep                = 1,
        PinConfiguration pinConfiguration = PinConfiguration::COMMON_CATHODE,
        miosix::GpioPin enablePin         = MockGpioPin());
 
    void enable();
 
    void disable();
 
    virtual void setSpeed(float speed);
 
    virtual void setMicroStepping(uint16_t microStep);
 
    void zeroPosition(float degrees = 0);
 
    virtual void move(int16_t steps);
 
    void moveDeg(float degrees);
 
    virtual void setPosition(int16_t steps);
 
    void setPositionDeg(float degrees);
 
    int16_t getCurrentPosition();
 
    virtual float getCurrentDegPosition();
 
    bool isEnabled();
 
    StepperData getState(float moveDeg);
 
protected:
    void setDirection();
 
    enum Direction : int8_t
    {
        CLOCKWISE = 1,  // To move the stepper clockwise seeing it from the top
                        // of the stepper
        COUNTER_CLOCKWISE = -1,  // To move the stepper counter-clockwise seeing
                                 // it from the top of the stepper
    };
 
    // This class is not copyable!
    Stepper& operator=(const Stepper&) = delete;
    Stepper(const Stepper& p)          = delete;
 
    miosix::GpioPin stepPin;
    miosix::GpioPin directionPin;
    float speed;      // [rev/s]
    float stepAngle;  // [deg/step]
    bool enabled = false;
    bool revertDirection;
    uint16_t microStep;
    PinConfiguration pinConfig;
    miosix::GpioPin enablePin;
 
    Direction currentDirection;    // Direction of the stepper
    float currentPositionDeg = 0;  // Absolute position counter [degrees]
};
 
inline void Stepper::setSpeed(float speed) { this->speed = speed; }
 
inline void Stepper::setMicroStepping(uint16_t microStep)
{
    this->microStep = microStep;
}
 
inline void Stepper::zeroPosition(float degrees)
{
    currentPositionDeg = degrees;
}
 
inline void Stepper::moveDeg(float degrees)
{
    move(degrees * microStep / stepAngle);
}
 
inline void Stepper::setPosition(int16_t steps)
{
    setPositionDeg(steps * stepAngle / microStep);
}
 
inline void Stepper::setPositionDeg(float position)
{
    moveDeg(position - getCurrentDegPosition());
}
 
inline int16_t Stepper::getCurrentPosition()
{
    return getCurrentDegPosition() * microStep / stepAngle;
}
 
inline float Stepper::getCurrentDegPosition() { return currentPositionDeg; }
 
}  // namespace Boardcore