729 lines
40 KiB
C
729 lines
40 KiB
C
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// AccelStepper.h
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//
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/// \mainpage AccelStepper library for Arduino
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///
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/// This is the Arduino AccelStepper library.
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/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers.
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///
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/// The standard Arduino IDE includes the Stepper library
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/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
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/// perfectly adequate for simple, single motor applications.
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///
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/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
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/// \li Supports acceleration and deceleration
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/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
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/// \li API functions never delay() or block
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/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
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/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
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/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
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/// \li Very slow speeds are supported
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/// \li Extensive API
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/// \li Subclass support
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///
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/// The latest version of this documentation can be downloaded from
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/// http://www.airspayce.com/mikem/arduino/AccelStepper
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/// The version of the package that this documentation refers to can be downloaded
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/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.57.zip
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///
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/// Example Arduino programs are included to show the main modes of use.
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///
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/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
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/// Please use that group for all questions and discussions on this topic.
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/// Do not contact the author directly, unless it is to discuss commercial licensing.
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/// Before asking a question or reporting a bug, please read
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/// - http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question
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/// - http://www.catb.org/esr/faqs/smart-questions.html
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/// - http://www.chiark.greenend.org.uk/~shgtatham/bugs.html
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///
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/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021
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/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
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/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
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/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with
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/// teensyduino addon 1.18 and later.
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///
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/// \par Installation
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///
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/// Install in the usual way: unzip the distribution zip file to the libraries
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/// sub-folder of your sketchbook.
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///
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/// \par Theory
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///
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/// This code uses speed calculations as described in
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/// "Generate stepper-motor speed profiles in real time" by David Austin
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/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf or
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/// http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time or
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/// http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
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/// with the exception that AccelStepper uses steps per second rather than radians per second
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/// (because we dont know the step angle of the motor)
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/// An initial step interval is calculated for the first step, based on the desired acceleration
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/// On subsequent steps, shorter step intervals are calculated based
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/// on the previous step until max speed is achieved.
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///
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/// \par Adafruit Motor Shield V2
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///
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/// The included examples AFMotor_* are for Adafruit Motor Shield V1 and do not work with Adafruit Motor Shield V2.
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/// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library for examples that work with Adafruit Motor Shield V2.
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///
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/// \par Donations
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///
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/// This library is offered under a free GPL license for those who want to use it that way.
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/// We try hard to keep it up to date, fix bugs
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/// and to provide free support. If this library has helped you save time or money, please consider donating at
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/// http://www.airspayce.com or here:
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///
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/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
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///
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/// \par Trademarks
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///
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/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
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/// international trade, and is used only in relation to motor control hardware and software.
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/// It is not to be confused with any other similar marks covering other goods and services.
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///
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/// \par Copyright
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///
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/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license
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/// conditions. The main licensing options available are GPL V2 or Commercial:
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///
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/// \par Open Source Licensing GPL V2
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/// This is the appropriate option if you want to share the source code of your
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/// application with everyone you distribute it to, and you also want to give them
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/// the right to share who uses it. If you wish to use this software under Open
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/// Source Licensing, you must contribute all your source code to the open source
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/// community in accordance with the GPL Version 2 when your application is
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/// distributed. See https://www.gnu.org/licenses/gpl-2.0.html
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///
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/// \par Commercial Licensing
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/// This is the appropriate option if you are creating proprietary applications
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/// and you are not prepared to distribute and share the source code of your
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/// application. Purchase commercial licenses at http://airspayce.binpress.com/
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///
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/// \par Revision History
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/// \version 1.0 Initial release
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///
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/// \version 1.1 Added speed() function to get the current speed.
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/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
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/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
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/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
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/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
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/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
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/// Added checks for already running at max speed and skip further calcs if so.
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/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang.
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/// Reported by Sandy Noble.
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/// Removed redundant _lastRunTime member.
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/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected.
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/// Reported by Peter Linhart.
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/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
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/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
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/// \version 1.10 Builds on Arduino 1.0
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/// \version 1.11 Improvments from Michael Ellison:
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/// Added optional enable line support for stepper drivers
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/// Added inversion for step/direction/enable lines for stepper drivers
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/// \version 1.12 Announce Google Group
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/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case,
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/// and more or less constant in all cases. This should result in slightly beter high speed performance, and
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/// reduce anomalous speed glitches when other steppers are accelerating.
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/// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
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/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
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/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
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/// running backwards to a smaller target position. Added examples
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/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
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/// \version 1.17 Added example ProportionalControl
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/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps
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/// without counting. reported by Friedrich, Klappenbach.
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/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
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/// for the motor interface. Updated examples to suit.
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/// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
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/// _pins member changed to _interface.
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/// Added _pinInverted array to simplify pin inversion operations.
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/// Added new function setOutputPins() which sets the motor output pins.
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/// It can be overridden in order to provide, say, serial output instead of parallel output
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/// Some refactoring and code size reduction.
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/// \version 1.20 Improved documentation and examples to show need for correctly
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/// specifying AccelStepper::FULL4WIRE and friends.
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/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
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/// when _speed was small but non-zero. Reported by Brian Schmalz.
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/// Precompute sqrt_twoa to improve performance and max possible stepping speed
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/// \version 1.22 Added Bounce.pde example
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/// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more
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/// frequently than the step time, even
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/// with the same values, would interfere with speed calcs. Now a new speed is computed
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/// only if there was a change in the set value. Reported by Brian Schmalz.
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/// \version 1.23 Rewrite of the speed algorithms in line with
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/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
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/// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
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/// function was removed.
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/// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned
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/// \version 1.25 Now ignore attempts to set acceleration to 0.0
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/// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause
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/// oscillation about the target position.
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/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters.
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/// Also added new Quickstop example showing its use.
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/// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause
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/// oscillation about the target position.
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/// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
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/// Contributed by Yuri Ivatchkovitch.
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/// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step
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/// with some sketches. Reported by Vadim.
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/// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of
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/// accelerated travel with certain speeds. Reported and patched by jolo.
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/// \version 1.31 Updated author and distribution location details to airspayce.com
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/// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
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/// prevented the enable pin changing stae correctly. Reported by Duane Bishop.
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/// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
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/// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
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/// Unfortunately this meant changing the signature for all step*() functions.
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/// Added example MotorShield, showing how to use AdaFruit Motor Shield to control
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/// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
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/// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
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/// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
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/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with
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/// setPinsInverted(bool, bool, bool). Reported by Mac Mac.
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/// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
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/// Added new optional argument 'enable' to constructor, which allows you toi disable the
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/// automatic enabling of outputs at construction time. Suggested by Guido.
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/// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the
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/// wrong direction (or not,
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/// depending on the setup-time requirements of the connected hardware).
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/// Reported by Mark Tillotson.
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/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true
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/// if the motor is still running to the target position.
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/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill.
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/// \version 1.40 Updated documentation, including testing on Teensy 3.1
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/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
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/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
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/// contribution but did not make it into production.<br>
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/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the
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/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
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/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
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/// was missing from the distribution.<br>
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/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default
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/// acceleration. Reported by Michael Newman.<br>
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/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
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/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
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/// \version 1.46 Fixed error in documentation for runToPosition().
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/// Reinstated time calculations in runSpeed() since new version is reported
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/// not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
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/// \version 1.48 2015-08-25
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/// Added new class MultiStepper that can manage multiple AccelSteppers,
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/// and cause them all to move
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/// to selected positions at such a (constant) speed that they all arrive at their
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/// target position at the same time. Suitable for X-Y flatbeds etc.<br>
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/// Added new method maxSpeed() to AccelStepper to return the currently configured maxSpeed.<br>
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/// \version 1.49 2016-01-02
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/// Testing with VID28 series instrument stepper motors and EasyDriver.
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/// OK, although with light pointers
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/// and slow speeds like 180 full steps per second the motor movement can be erratic,
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/// probably due to some mechanical resonance. Best to accelerate through this speed.<br>
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/// Added isRunning().<br>
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/// \version 1.50 2016-02-25
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/// AccelStepper::disableOutputs now sets the enable pion to OUTPUT mode if the enable pin is defined.
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/// Patch from Piet De Jong.<br>
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/// Added notes about the fact that AFMotor_* examples do not work with Adafruit Motor Shield V2.<br>
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/// \version 1.51 2016-03-24
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/// Fixed a problem reported by gregor: when resetting the stepper motor position using setCurrentPosition() the
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/// stepper speed is reset by setting _stepInterval to 0, but _speed is not
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/// reset. this results in the stepper motor not starting again when calling
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/// setSpeed() with the same speed the stepper was set to before.
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/// \version 1.52 2016-08-09
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/// Added MultiStepper to keywords.txt.
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/// Improvements to efficiency of AccelStepper::runSpeed() as suggested by David Grayson.
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/// Improvements to speed accuracy as suggested by David Grayson.
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/// \version 1.53 2016-08-14
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/// Backed out Improvements to speed accuracy from 1.52 as it did not work correctly.
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/// \version 1.54 2017-01-24
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/// Fixed some warnings about unused arguments.
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/// \version 1.55 2017-01-25
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/// Fixed another warning in MultiStepper.cpp
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/// \version 1.56 2017-02-03
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/// Fixed minor documentation error with DIRECTION_CCW and DIRECTION_CW. Reported by David Mutterer.
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/// Added link to Binpress commercial license purchasing.
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/// \version 1.57 2017-03-28
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/// _direction moved to protected at the request of Rudy Ercek.
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/// setMaxSpeed() and setAcceleration() now correct negative values to be positive.
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///
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/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
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// Copyright (C) 2009-2013 Mike McCauley
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// $Id: AccelStepper.h,v 1.27 2016/08/14 10:26:54 mikem Exp mikem $
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#ifndef AccelStepper_h
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#define AccelStepper_h
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#include <stdlib.h>
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#if ARDUINO >= 100
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#include <Arduino.h>
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#else
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#include <WProgram.h>
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#include <wiring.h>
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#endif
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// These defs cause trouble on some versions of Arduino
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#undef round
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/////////////////////////////////////////////////////////////////////
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/// \class AccelStepper AccelStepper.h <AccelStepper.h>
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/// \brief Support for stepper motors with acceleration etc.
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///
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/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
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/// acceleration, deceleration, absolute positioning commands etc. Multiple
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/// simultaneous steppers are supported, all moving
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/// at different speeds and accelerations.
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///
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/// \par Operation
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/// This module operates by computing a step time in microseconds. The step
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/// time is recomputed after each step and after speed and acceleration
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/// parameters are changed by the caller. The time of each step is recorded in
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/// microseconds. The run() function steps the motor once if a new step is due.
|
||
|
|
/// The run() function must be called frequently until the motor is in the
|
||
|
|
/// desired position, after which time run() will do nothing.
|
||
|
|
///
|
||
|
|
/// \par Positioning
|
||
|
|
/// Positions are specified by a signed long integer. At
|
||
|
|
/// construction time, the current position of the motor is consider to be 0. Positive
|
||
|
|
/// positions are clockwise from the initial position; negative positions are
|
||
|
|
/// anticlockwise. The current position can be altered for instance after
|
||
|
|
/// initialization positioning.
|
||
|
|
///
|
||
|
|
/// \par Caveats
|
||
|
|
/// This is an open loop controller: If the motor stalls or is oversped,
|
||
|
|
/// AccelStepper will not have a correct
|
||
|
|
/// idea of where the motor really is (since there is no feedback of the motor's
|
||
|
|
/// real position. We only know where we _think_ it is, relative to the
|
||
|
|
/// initial starting point).
|
||
|
|
///
|
||
|
|
/// \par Performance
|
||
|
|
/// The fastest motor speed that can be reliably supported is about 4000 steps per
|
||
|
|
/// second at a clock frequency of 16 MHz on Arduino such as Uno etc.
|
||
|
|
/// Faster processors can support faster stepping speeds.
|
||
|
|
/// However, any speed less than that
|
||
|
|
/// down to very slow speeds (much less than one per second) are also supported,
|
||
|
|
/// provided the run() function is called frequently enough to step the motor
|
||
|
|
/// whenever required for the speed set.
|
||
|
|
/// Calling setAcceleration() is expensive,
|
||
|
|
/// since it requires a square root to be calculated.
|
||
|
|
///
|
||
|
|
/// Gregor Christandl reports that with an Arduino Due and a simple test program,
|
||
|
|
/// he measured 43163 steps per second using runSpeed(),
|
||
|
|
/// and 16214 steps per second using run();
|
||
|
|
class AccelStepper
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/// \brief Symbolic names for number of pins.
|
||
|
|
/// Use this in the pins argument the AccelStepper constructor to
|
||
|
|
/// provide a symbolic name for the number of pins
|
||
|
|
/// to use.
|
||
|
|
typedef enum
|
||
|
|
{
|
||
|
|
FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
|
||
|
|
DRIVER = 1, ///< Stepper Driver, 2 driver pins required
|
||
|
|
FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
|
||
|
|
FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
|
||
|
|
FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
|
||
|
|
HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
|
||
|
|
HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required
|
||
|
|
} MotorInterfaceType;
|
||
|
|
|
||
|
|
/// Constructor. You can have multiple simultaneous steppers, all moving
|
||
|
|
/// at different speeds and accelerations, provided you call their run()
|
||
|
|
/// functions at frequent enough intervals. Current Position is set to 0, target
|
||
|
|
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
|
||
|
|
/// The motor pins will be initialised to OUTPUT mode during the
|
||
|
|
/// constructor by a call to enableOutputs().
|
||
|
|
/// \param[in] interface Number of pins to interface to. Integer values are
|
||
|
|
/// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names.
|
||
|
|
/// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
|
||
|
|
/// If an enable line is also needed, call setEnablePin() after construction.
|
||
|
|
/// You may also invert the pins using setPinsInverted().
|
||
|
|
/// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required).
|
||
|
|
/// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required).
|
||
|
|
/// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required).
|
||
|
|
/// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
|
||
|
|
/// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
|
||
|
|
/// Defaults to AccelStepper::FULL4WIRE (4) pins.
|
||
|
|
/// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
|
||
|
|
/// to pin 2. For a AccelStepper::DRIVER (interface==1),
|
||
|
|
/// this is the Step input to the driver. Low to high transition means to step)
|
||
|
|
/// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
|
||
|
|
/// to pin 3. For a AccelStepper::DRIVER (interface==1),
|
||
|
|
/// this is the Direction input the driver. High means forward.
|
||
|
|
/// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
|
||
|
|
/// to pin 4.
|
||
|
|
/// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
|
||
|
|
/// to pin 5.
|
||
|
|
/// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
|
||
|
|
/// the output pins at construction time.
|
||
|
|
AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
|
||
|
|
|
||
|
|
/// Alternate Constructor which will call your own functions for forward and backward steps.
|
||
|
|
/// You can have multiple simultaneous steppers, all moving
|
||
|
|
/// at different speeds and accelerations, provided you call their run()
|
||
|
|
/// functions at frequent enough intervals. Current Position is set to 0, target
|
||
|
|
/// position is set to 0. MaxSpeed and Acceleration default to 1.0.
|
||
|
|
/// Any motor initialization should happen before hand, no pins are used or initialized.
|
||
|
|
/// \param[in] forward void-returning procedure that will make a forward step
|
||
|
|
/// \param[in] backward void-returning procedure that will make a backward step
|
||
|
|
AccelStepper(void (*forward)(), void (*backward)());
|
||
|
|
|
||
|
|
/// Set the target position. The run() function will try to move the motor (at most one step per call)
|
||
|
|
/// from the current position to the target position set by the most
|
||
|
|
/// recent call to this function. Caution: moveTo() also recalculates the speed for the next step.
|
||
|
|
/// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
|
||
|
|
/// \param[in] absolute The desired absolute position. Negative is
|
||
|
|
/// anticlockwise from the 0 position.
|
||
|
|
void moveTo(long absolute);
|
||
|
|
|
||
|
|
/// Set the target position relative to the current position
|
||
|
|
/// \param[in] relative The desired position relative to the current position. Negative is
|
||
|
|
/// anticlockwise from the current position.
|
||
|
|
void move(long relative);
|
||
|
|
|
||
|
|
/// Poll the motor and step it if a step is due, implementing
|
||
|
|
/// accelerations and decelerations to acheive the target position. You must call this as
|
||
|
|
/// frequently as possible, but at least once per minimum step time interval,
|
||
|
|
/// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
|
||
|
|
/// based on the current speed and the time since the last step.
|
||
|
|
/// \return true if the motor is still running to the target position.
|
||
|
|
boolean run();
|
||
|
|
|
||
|
|
/// Poll the motor and step it if a step is due, implementing a constant
|
||
|
|
/// speed as set by the most recent call to setSpeed(). You must call this as
|
||
|
|
/// frequently as possible, but at least once per step interval,
|
||
|
|
/// \return true if the motor was stepped.
|
||
|
|
boolean runSpeed();
|
||
|
|
|
||
|
|
/// Sets the maximum permitted speed. The run() function will accelerate
|
||
|
|
/// up to the speed set by this function.
|
||
|
|
/// Caution: the maximum speed achievable depends on your processor and clock speed.
|
||
|
|
/// \param[in] speed The desired maximum speed in steps per second. Must
|
||
|
|
/// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
|
||
|
|
/// Result in non-linear accelerations and decelerations.
|
||
|
|
void setMaxSpeed(float speed);
|
||
|
|
|
||
|
|
/// returns the maximum speed configured for this stepper
|
||
|
|
/// that was previously set by setMaxSpeed();
|
||
|
|
/// \return The currently configured maximum speed
|
||
|
|
float maxSpeed();
|
||
|
|
|
||
|
|
/// Sets the acceleration/deceleration rate.
|
||
|
|
/// \param[in] acceleration The desired acceleration in steps per second
|
||
|
|
/// per second. Must be > 0.0. This is an expensive call since it requires a square
|
||
|
|
/// root to be calculated. Dont call more ofthen than needed
|
||
|
|
void setAcceleration(float acceleration);
|
||
|
|
|
||
|
|
/// Sets the desired constant speed for use with runSpeed().
|
||
|
|
/// \param[in] speed The desired constant speed in steps per
|
||
|
|
/// second. Positive is clockwise. Speeds of more than 1000 steps per
|
||
|
|
/// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
|
||
|
|
/// once per hour, approximately. Speed accuracy depends on the Arduino
|
||
|
|
/// crystal. Jitter depends on how frequently you call the runSpeed() function.
|
||
|
|
void setSpeed(float speed);
|
||
|
|
|
||
|
|
/// The most recently set speed
|
||
|
|
/// \return the most recent speed in steps per second
|
||
|
|
float speed();
|
||
|
|
|
||
|
|
/// The distance from the current position to the target position.
|
||
|
|
/// \return the distance from the current position to the target position
|
||
|
|
/// in steps. Positive is clockwise from the current position.
|
||
|
|
long distanceToGo();
|
||
|
|
|
||
|
|
/// The most recently set target position.
|
||
|
|
/// \return the target position
|
||
|
|
/// in steps. Positive is clockwise from the 0 position.
|
||
|
|
long targetPosition();
|
||
|
|
|
||
|
|
/// The currently motor position.
|
||
|
|
/// \return the current motor position
|
||
|
|
/// in steps. Positive is clockwise from the 0 position.
|
||
|
|
long currentPosition();
|
||
|
|
|
||
|
|
/// Resets the current position of the motor, so that wherever the motor
|
||
|
|
/// happens to be right now is considered to be the new 0 position. Useful
|
||
|
|
/// for setting a zero position on a stepper after an initial hardware
|
||
|
|
/// positioning move.
|
||
|
|
/// Has the side effect of setting the current motor speed to 0.
|
||
|
|
/// \param[in] position The position in steps of wherever the motor
|
||
|
|
/// happens to be right now.
|
||
|
|
void setCurrentPosition(long position);
|
||
|
|
|
||
|
|
/// Moves the motor (with acceleration/deceleration)
|
||
|
|
/// to the target position and blocks until it is at
|
||
|
|
/// position. Dont use this in event loops, since it blocks.
|
||
|
|
void runToPosition();
|
||
|
|
|
||
|
|
/// Runs at the currently selected speed until the target position is reached
|
||
|
|
/// Does not implement accelerations.
|
||
|
|
/// \return true if it stepped
|
||
|
|
boolean runSpeedToPosition();
|
||
|
|
|
||
|
|
/// Moves the motor (with acceleration/deceleration)
|
||
|
|
/// to the new target position and blocks until it is at
|
||
|
|
/// position. Dont use this in event loops, since it blocks.
|
||
|
|
/// \param[in] position The new target position.
|
||
|
|
void runToNewPosition(long position);
|
||
|
|
|
||
|
|
/// Sets a new target position that causes the stepper
|
||
|
|
/// to stop as quickly as possible, using the current speed and acceleration parameters.
|
||
|
|
void stop();
|
||
|
|
|
||
|
|
/// Disable motor pin outputs by setting them all LOW
|
||
|
|
/// Depending on the design of your electronics this may turn off
|
||
|
|
/// the power to the motor coils, saving power.
|
||
|
|
/// This is useful to support Arduino low power modes: disable the outputs
|
||
|
|
/// during sleep and then reenable with enableOutputs() before stepping
|
||
|
|
/// again.
|
||
|
|
/// If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled.
|
||
|
|
virtual void disableOutputs();
|
||
|
|
|
||
|
|
/// Enable motor pin outputs by setting the motor pins to OUTPUT
|
||
|
|
/// mode. Called automatically by the constructor.
|
||
|
|
/// If the enable Pin is defined, sets it to OUTPUT mode and sets the pin to enabled.
|
||
|
|
virtual void enableOutputs();
|
||
|
|
|
||
|
|
/// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is
|
||
|
|
/// approximately 20 microseconds. Times less than 20 microseconds
|
||
|
|
/// will usually result in 20 microseconds or so.
|
||
|
|
/// \param[in] minWidth The minimum pulse width in microseconds.
|
||
|
|
void setMinPulseWidth(unsigned int minWidth);
|
||
|
|
|
||
|
|
/// Sets the enable pin number for stepper drivers.
|
||
|
|
/// 0xFF indicates unused (default).
|
||
|
|
/// Otherwise, if a pin is set, the pin will be turned on when
|
||
|
|
/// enableOutputs() is called and switched off when disableOutputs()
|
||
|
|
/// is called.
|
||
|
|
/// \param[in] enablePin Arduino digital pin number for motor enable
|
||
|
|
/// \sa setPinsInverted
|
||
|
|
void setEnablePin(uint8_t enablePin = 0xff);
|
||
|
|
|
||
|
|
/// Sets the inversion for stepper driver pins
|
||
|
|
/// \param[in] directionInvert True for inverted direction pin, false for non-inverted
|
||
|
|
/// \param[in] stepInvert True for inverted step pin, false for non-inverted
|
||
|
|
/// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
|
||
|
|
void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
|
||
|
|
|
||
|
|
/// Sets the inversion for 2, 3 and 4 wire stepper pins
|
||
|
|
/// \param[in] pin1Invert True for inverted pin1, false for non-inverted
|
||
|
|
/// \param[in] pin2Invert True for inverted pin2, false for non-inverted
|
||
|
|
/// \param[in] pin3Invert True for inverted pin3, false for non-inverted
|
||
|
|
/// \param[in] pin4Invert True for inverted pin4, false for non-inverted
|
||
|
|
/// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
|
||
|
|
void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
|
||
|
|
|
||
|
|
/// Checks to see if the motor is currently running to a target
|
||
|
|
/// \return true if the speed is not zero or not at the target position
|
||
|
|
bool isRunning();
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
/// \brief Direction indicator
|
||
|
|
/// Symbolic names for the direction the motor is turning
|
||
|
|
typedef enum
|
||
|
|
{
|
||
|
|
DIRECTION_CCW = 0, ///< Counter-Clockwise
|
||
|
|
DIRECTION_CW = 1 ///< Clockwise
|
||
|
|
} Direction;
|
||
|
|
|
||
|
|
/// Forces the library to compute a new instantaneous speed and set that as
|
||
|
|
/// the current speed. It is called by
|
||
|
|
/// the library:
|
||
|
|
/// \li after each step
|
||
|
|
/// \li after change to maxSpeed through setMaxSpeed()
|
||
|
|
/// \li after change to acceleration through setAcceleration()
|
||
|
|
/// \li after change to target position (relative or absolute) through
|
||
|
|
/// move() or moveTo()
|
||
|
|
void computeNewSpeed();
|
||
|
|
|
||
|
|
/// Low level function to set the motor output pins
|
||
|
|
/// bit 0 of the mask corresponds to _pin[0]
|
||
|
|
/// bit 1 of the mask corresponds to _pin[1]
|
||
|
|
/// You can override this to impment, for example serial chip output insted of using the
|
||
|
|
/// output pins directly
|
||
|
|
virtual void setOutputPins(uint8_t mask);
|
||
|
|
|
||
|
|
/// Called to execute a step. Only called when a new step is
|
||
|
|
/// required. Subclasses may override to implement new stepping
|
||
|
|
/// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
|
||
|
|
/// number of pins defined for the stepper.
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step(long step);
|
||
|
|
|
||
|
|
/// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
|
||
|
|
/// required. Calls _forward() or _backward() to perform the step
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step0(long step);
|
||
|
|
|
||
|
|
/// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
|
||
|
|
/// required. Subclasses may override to implement new stepping
|
||
|
|
/// interfaces. The default sets or clears the outputs of Step pin1 to step,
|
||
|
|
/// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
|
||
|
|
/// which is the minimum STEP pulse width for the 3967 driver.
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step1(long step);
|
||
|
|
|
||
|
|
/// Called to execute a step on a 2 pin motor. Only called when a new step is
|
||
|
|
/// required. Subclasses may override to implement new stepping
|
||
|
|
/// interfaces. The default sets or clears the outputs of pin1 and pin2
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step2(long step);
|
||
|
|
|
||
|
|
/// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
|
||
|
|
/// required. Subclasses may override to implement new stepping
|
||
|
|
/// interfaces. The default sets or clears the outputs of pin1, pin2,
|
||
|
|
/// pin3
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step3(long step);
|
||
|
|
|
||
|
|
/// Called to execute a step on a 4 pin motor. Only called when a new step is
|
||
|
|
/// required. Subclasses may override to implement new stepping
|
||
|
|
/// interfaces. The default sets or clears the outputs of pin1, pin2,
|
||
|
|
/// pin3, pin4.
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step4(long step);
|
||
|
|
|
||
|
|
/// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
|
||
|
|
/// required. Subclasses may override to implement new stepping
|
||
|
|
/// interfaces. The default sets or clears the outputs of pin1, pin2,
|
||
|
|
/// pin3
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step6(long step);
|
||
|
|
|
||
|
|
/// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
|
||
|
|
/// required. Subclasses may override to implement new stepping
|
||
|
|
/// interfaces. The default sets or clears the outputs of pin1, pin2,
|
||
|
|
/// pin3, pin4.
|
||
|
|
/// \param[in] step The current step phase number (0 to 7)
|
||
|
|
virtual void step8(long step);
|
||
|
|
|
||
|
|
/// Current direction motor is spinning in
|
||
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/// Protected because some peoples subclasses need it to be so
|
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|
|
boolean _direction; // 1 == CW
|
||
|
|
|
||
|
|
private:
|
||
|
|
/// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
|
||
|
|
/// bipolar, and 4 pins is a unipolar.
|
||
|
|
uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType
|
||
|
|
|
||
|
|
/// Arduino pin number assignments for the 2 or 4 pins required to interface to the
|
||
|
|
/// stepper motor or driver
|
||
|
|
uint8_t _pin[4];
|
||
|
|
|
||
|
|
/// Whether the _pins is inverted or not
|
||
|
|
uint8_t _pinInverted[4];
|
||
|
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|
||
|
|
/// The current absolution position in steps.
|
||
|
|
long _currentPos; // Steps
|
||
|
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|
||
|
|
/// The target position in steps. The AccelStepper library will move the
|
||
|
|
/// motor from the _currentPos to the _targetPos, taking into account the
|
||
|
|
/// max speed, acceleration and deceleration
|
||
|
|
long _targetPos; // Steps
|
||
|
|
|
||
|
|
/// The current motos speed in steps per second
|
||
|
|
/// Positive is clockwise
|
||
|
|
float _speed; // Steps per second
|
||
|
|
|
||
|
|
/// The maximum permitted speed in steps per second. Must be > 0.
|
||
|
|
float _maxSpeed;
|
||
|
|
|
||
|
|
/// The acceleration to use to accelerate or decelerate the motor in steps
|
||
|
|
/// per second per second. Must be > 0
|
||
|
|
float _acceleration;
|
||
|
|
float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
|
||
|
|
|
||
|
|
/// The current interval between steps in microseconds.
|
||
|
|
/// 0 means the motor is currently stopped with _speed == 0
|
||
|
|
unsigned long _stepInterval;
|
||
|
|
|
||
|
|
/// The last step time in microseconds
|
||
|
|
unsigned long _lastStepTime;
|
||
|
|
|
||
|
|
/// The minimum allowed pulse width in microseconds
|
||
|
|
unsigned int _minPulseWidth;
|
||
|
|
|
||
|
|
/// Is the direction pin inverted?
|
||
|
|
///bool _dirInverted; /// Moved to _pinInverted[1]
|
||
|
|
|
||
|
|
/// Is the step pin inverted?
|
||
|
|
///bool _stepInverted; /// Moved to _pinInverted[0]
|
||
|
|
|
||
|
|
/// Is the enable pin inverted?
|
||
|
|
bool _enableInverted;
|
||
|
|
|
||
|
|
/// Enable pin for stepper driver, or 0xFF if unused.
|
||
|
|
uint8_t _enablePin;
|
||
|
|
|
||
|
|
/// The pointer to a forward-step procedure
|
||
|
|
void (*_forward)();
|
||
|
|
|
||
|
|
/// The pointer to a backward-step procedure
|
||
|
|
void (*_backward)();
|
||
|
|
|
||
|
|
/// The step counter for speed calculations
|
||
|
|
long _n;
|
||
|
|
|
||
|
|
/// Initial step size in microseconds
|
||
|
|
float _c0;
|
||
|
|
|
||
|
|
/// Last step size in microseconds
|
||
|
|
float _cn;
|
||
|
|
|
||
|
|
/// Min step size in microseconds based on maxSpeed
|
||
|
|
float _cmin; // at max speed
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
/// @example Random.pde
|
||
|
|
/// Make a single stepper perform random changes in speed, position and acceleration
|
||
|
|
|
||
|
|
/// @example Overshoot.pde
|
||
|
|
/// Check overshoot handling
|
||
|
|
/// which sets a new target position and then waits until the stepper has
|
||
|
|
/// achieved it. This is used for testing the handling of overshoots
|
||
|
|
|
||
|
|
/// @example MultipleSteppers.pde
|
||
|
|
/// Shows how to multiple simultaneous steppers
|
||
|
|
/// Runs one stepper forwards and backwards, accelerating and decelerating
|
||
|
|
/// at the limits. Runs other steppers at the same time
|
||
|
|
|
||
|
|
/// @example ConstantSpeed.pde
|
||
|
|
/// Shows how to run AccelStepper in the simplest,
|
||
|
|
/// fixed speed mode with no accelerations
|
||
|
|
|
||
|
|
/// @example Blocking.pde
|
||
|
|
/// Shows how to use the blocking call runToNewPosition
|
||
|
|
/// Which sets a new target position and then waits until the stepper has
|
||
|
|
/// achieved it.
|
||
|
|
|
||
|
|
/// @example AFMotor_MultiStepper.pde
|
||
|
|
/// Control both Stepper motors at the same time with different speeds
|
||
|
|
/// and accelerations.
|
||
|
|
|
||
|
|
/// @example AFMotor_ConstantSpeed.pde
|
||
|
|
/// Shows how to run AccelStepper in the simplest,
|
||
|
|
/// fixed speed mode with no accelerations
|
||
|
|
|
||
|
|
/// @example ProportionalControl.pde
|
||
|
|
/// Make a single stepper follow the analog value read from a pot or whatever
|
||
|
|
/// The stepper will move at a constant speed to each newly set posiiton,
|
||
|
|
/// depending on the value of the pot.
|
||
|
|
|
||
|
|
/// @example Bounce.pde
|
||
|
|
/// Make a single stepper bounce from one limit to another, observing
|
||
|
|
/// accelrations at each end of travel
|
||
|
|
|
||
|
|
/// @example Quickstop.pde
|
||
|
|
/// Check stop handling.
|
||
|
|
/// Calls stop() while the stepper is travelling at full speed, causing
|
||
|
|
/// the stepper to stop as quickly as possible, within the constraints of the
|
||
|
|
/// current acceleration.
|
||
|
|
|
||
|
|
/// @example MotorShield.pde
|
||
|
|
/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
|
||
|
|
/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
|
||
|
|
|
||
|
|
/// @example DualMotorShield.pde
|
||
|
|
/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the
|
||
|
|
/// Itead Studio Arduino Dual Stepper Motor Driver Shield
|
||
|
|
/// model IM120417015
|
||
|
|
|
||
|
|
#endif
|