Boardcore::StepperPWM Class Reference

#include <StepperPWM.h>

Inheritance diagram for Boardcore::StepperPWM:

Collaboration diagram for Boardcore::StepperPWM:

Public Member Functions
	StepperPWM (CountedPWM &pwm, 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())
	Construct a new StepperPWM object.
void	setSpeed (float speed) override
	Changes the stepper motor speed.
void	setMicroStepping (uint16_t microStep) override
	Set the motor driver micro stepping configuration.
void	move (int16_t steps) override
	Move the stepper motor by the specified amount of steps.
float	getCurrentDegPosition () override
	Returns the current angle of the stepper.
Public Member Functions inherited from Boardcore::Stepper
	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())
	Construct a new Stepper object.
void	enable ()
void	disable ()
void	zeroPosition (float degrees=0)
	Overrides the driver's internal position counter.
void	moveDeg (float degrees)
	Move the stepper motor by the specified amount of degrees.
virtual void	setPosition (int16_t steps)
	Set the position of the stepper motor.
void	setPositionDeg (float degrees)
	Set the position of the stepper motor.
int16_t	getCurrentPosition ()
bool	isEnabled ()
	Returns whether the stepper is enabled or not.
StepperData	getState (float moveDeg)
	Returns the current position and the current timestamp.

Additional Inherited Members
Public Types inherited from Boardcore::Stepper
enum class	PinConfiguration { COMMON_ANODE , COMMON_CATHODE }
Protected Types inherited from Boardcore::Stepper
enum	Direction : int8_t { CLOCKWISE = 1 , COUNTER_CLOCKWISE = -1 }
Protected Member Functions inherited from Boardcore::Stepper
void	setDirection ()
	Sets the directionPin to the right value to go in the direction stored in currentDirection.
Stepper &	operator= (const Stepper &)=delete
	Stepper (const Stepper &p)=delete
Protected Attributes inherited from Boardcore::Stepper
miosix::GpioPin	stepPin
miosix::GpioPin	directionPin
float	speed
float	stepAngle
bool	enabled = false
bool	revertDirection
uint16_t	microStep
PinConfiguration	pinConfig
miosix::GpioPin	enablePin
Direction	currentDirection
float	currentPositionDeg = 0

Detailed Description

Definition at line 35 of file StepperPWM.h.

Constructor & Destructor Documentation

StepperPWM()

Boardcore::StepperPWM::StepperPWM	(	CountedPWM &	pwm,
		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() )

Construct a new StepperPWM object.

By default the direction pin is held low when moving forward. If the given speed is negative the motor wont move.

Parameters

pwm	The CountedPWM object that will generate the N steps.
stepPin	Pin connected to the step signal of the driver.
directionPin	Pin connected to the direction signal of the driver.
speed	Number of rotations per second.
stepAngle	Angle covered by one motor step.
revertDirection	Whether or not revert the direction signal.

Definition at line 27 of file StepperPWM.cpp.

Member Function Documentation

getCurrentDegPosition()

float Boardcore::StepperPWM::getCurrentDegPosition ( )

overridevirtual

Returns the current angle of the stepper.

To calculate the correct angle of the stepper we add the angle reached in the last actuation (saved in the variable currentPositionDeg) with the conversion in angle of the actual stepper position (so, the number of pulses actuated by the timer till now, that corresponds to the counter register of the CounterTimer).

Notice that on each actuation (calling one of the move or setPosition methods) we save the angle reached using this method.

Reimplemented from Boardcore::Stepper.

Definition at line 93 of file StepperPWM.cpp.

move()

void Boardcore::StepperPWM::move ( int16_t steps )

overridevirtual

Move the stepper motor by the specified amount of steps.

Reimplemented from Boardcore::Stepper.

Definition at line 63 of file StepperPWM.cpp.

setMicroStepping()

void Boardcore::StepperPWM::setMicroStepping ( uint16_t microStep )

overridevirtual

Set the motor driver micro stepping configuration.

If micro steps are changed via physical switches we have to call this method with the correct configuration to keep consistency in the speed of the stepper.

Parameters

microStep

The micro steps that the stepper performs.

Reimplemented from Boardcore::Stepper.

Definition at line 52 of file StepperPWM.cpp.

setSpeed()

void Boardcore::StepperPWM::setSpeed ( float speed )

overridevirtual

Changes the stepper motor speed.

Parameters

speed

Speed in rotation per second. [rev/s]

Reimplemented from Boardcore::Stepper.

Definition at line 46 of file StepperPWM.cpp.

---

The documentation for this class was generated from the following files:

• src/shared/actuators/stepper/StepperPWM.h
• src/shared/actuators/stepper/StepperPWM.cpp