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CustomStepper.cpp
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CustomStepper.cpp
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//Copyright 2012 Igor Campos Origional Custom Steper Class
//Copyright 2014 Andy Clark Modifications to support OptoSensor, Homing and Rotate to Position
//
//This file is part of CustomStepper.
//
//CustomStepper is free software: you can redistribute it and/or modify
//it under the terms of the GNU General Public License as published by
//the Free Software Foundation, either version 3 of the License, or
//(at your option) any later version.
//
//CustomStepper is distributed in the hope that it will be useful,
//but WITHOUT ANY WARRANTY; without even the implied warranty of
//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
//GNU General Public License for more details.
//
//You should have received a copy of the GNU General Public License
//along with CustomStepper. If not, see <http://www.gnu.org/licenses/>.
#include "CustomStepper.h"
// My motors seem to be capable of handling upto about 16RPM but have good torque around 10rpm
//Full constructor, just the first 4 parameters are necessary, they are the pins connected to the motor,
//the others are optional, and default to the following below
// 5 and 6 refer to the LED and Opto transistor pins
//the 7th paramater is the steps sequence, where the 1st element of the array is the number of steps
//it can have a maximum of 8 steps
//the 8th parameter is the SPR (Steps Per Rotation)
//the 9th parameter is the RPM
//the 10th parameter is the rotation orientation
CustomStepper::CustomStepper(byte pin1, byte pin2, byte pin3, byte pin4, byte pinOptoLED, byte pinOptoTran, byte steps[], float spr, float rpm, motordir direction)
{
this->setRPM(rpm);
this->setSPR(spr);
this->setDirection(direction);
this->pin1 = pin1;
this->pin2 = pin2;
this->pin3 = pin3;
this->pin4 = pin4;
this->pinOptoLED = pinOptoLED;
this->pinOptoTran = pinOptoTran;
this->setupMotor();
this->setupOpto();
this->noSteps = steps[0];
for (int i = 0; i < this->noSteps; i++)
this->steps[i] = steps[i+1];
this->nextStep = 0;
this->stepCorrection = 0;
this->done = true;
this->absolutePosition = -1; //Unknown
this->setTimer();
}
void CustomStepper::setupMotor()
{
pinMode(this->pin1, OUTPUT);
pinMode(this->pin2, OUTPUT);
pinMode(this->pin3, OUTPUT);
pinMode(this->pin4, OUTPUT);
}
void CustomStepper::setupOpto()
{
pinMode(this->pinOptoLED, OUTPUT);
digitalWrite(this->pinOptoLED, HIGH);
pinMode(this->pinOptoTran, INPUT_PULLUP);
}
void CustomStepper::dostep()
{
digitalWrite(this->pin1, (this->steps[this->nextStep] & B1000));
digitalWrite(this->pin2, (this->steps[this->nextStep] & B0100));
digitalWrite(this->pin3, (this->steps[this->nextStep] & B0010));
digitalWrite(this->pin4, (this->steps[this->nextStep] & B0001));
this->setTimer();
if (this->direction == CW)
this->nextStep == this->noSteps-1 ? this->nextStep = 0 : this->nextStep++;
else if (this->direction == CCW)
this->nextStep == 0 ? this->nextStep = this->noSteps-1 : this->nextStep--;
this->stepsToGo--;
this->calcAbsolutePosition();
}
void CustomStepper::step()
{
if (this->mode == HOME && this->readOpto()){
this->absolutePosition = 0;
this->disable();
}
if (this->mode == UNHOME && !this->readOpto())
this->mode = HOME;
if (this->done) return;
if (this->stepsToGo > 0)
{
if (this->direction != STOP)
this->dostep();
else
this->disable();
}
else if (this->mode == CONTINUOUS || this->mode == UNHOME || this->mode == HOME)
{
this->stepsToGo = this->spr;
this->step();
}
else if (this->mode == STEPS)
this->disable();
}
void CustomStepper::home()
{
this->direction = CW;
this->rotateDegrees(360);
if (this->readOpto() == 1){
this->unhome();
return;
}
this->mode = HOME;
}
void CustomStepper::unhome()
{
this->mode = UNHOME;
}
void CustomStepper::disable()
{
this->time = 0;
digitalWrite(this->pin1, LOW);
digitalWrite(this->pin2, LOW);
digitalWrite(this->pin3, LOW);
digitalWrite(this->pin4, LOW);
this->done = true;
}
void CustomStepper::setRPM(float rpm)
{
if (rpm > 0)
this->rpm = rpm;
this->calcTime();
}
void CustomStepper::setSPR(float spr)
{
if (spr > 0)
this->spr = spr;
this->calcTime();
}
void CustomStepper::calcTime()
{
if (this->spr > 0 && this->rpm > 0)
this->time = 60000000.0/this->spr/this->rpm;
}
void CustomStepper::setDirection(motordir direction)
{
if (direction == CW || direction == CCW || direction == STOP)
this->direction = direction;
}
void CustomStepper::rotateDegrees(float degrees)
{
if (this->spr > 0 && this->rpm > 0 && degrees > 0)
{
this->mode = STEPS;
this->stepsToGo = this->degreesToSteps(degrees) + this->stepCorrection + 0.5;
this->stepCorrection = this->degreesToSteps(degrees) + this->stepCorrection - this->stepsToGo;
this->done = false;
this->calcTime();
this->step();
}
}
unsigned int CustomStepper::degreesToSteps(float degrees){
return ((degrees/360.0)*this->spr);
}
void CustomStepper::rotateToDegrees(float degrees)
{
float target = degrees-this->positionDegrees();
if (target < 0) {
target = 360 + target;
}
if (target > 180) {
this->setDirection(CCW);
target = 360 - target;
}
else {
this->setDirection(CW);
}
this->rotateDegrees(target);
}
float CustomStepper::positionDegrees()
{
return ((this->absolutePosition * 360.0) / this->spr);
}
void CustomStepper::calcAbsolutePosition()
{
// just done a step, what is the new position
if (this->mode == HOME || this->mode == UNHOME){
this->absolutePosition = -1;
return;
}
if (this->direction == CW)
this->absolutePosition >= this->spr-1 ? this->absolutePosition = 0 : this->absolutePosition++;
else if (this->direction == CCW)
this->absolutePosition == 0 ? this->absolutePosition = this->spr-1 : this->absolutePosition--;
}
void CustomStepper::setTimer()
{
this->timer = micros() + this->time;
}
void CustomStepper::run()
{
if (this->timer < micros() && !this->done) /* Why?? && micros() < this->timer + this->time) */
this->step();
}
boolean CustomStepper::isDone()
{
return this->done;
}
boolean CustomStepper::readOpto()
{
return digitalRead(this->pinOptoTran);
}
//Return state of class
void CustomStepper::dump()
{
Serial.print(" stepsToGo: ");
Serial.println(this->stepsToGo);
Serial.print(" mode: ");
Serial.println(this->mode);
Serial.print(" direction: ");
Serial.println(this->direction);
Serial.print(" stepCorrection: ");
Serial.println(this->stepCorrection);
Serial.print(" angle: ");
Serial.println(this->positionDegrees());
Serial.print(" Time:");
Serial.println(this->time);
Serial.print(" Timer:");
Serial.println(this->timer);
Serial.print(" Opto:");
Serial.print(this->readOpto());
Serial.print(" Done:");
Serial.print(this->isDone());
Serial.println();
}