1 /*
2 * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
3 * Copyright (c) 2014 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25 #include <iostream>
26 #include <string>
27 #include <stdexcept>
28 #include <unistd.h>
29 #include <stdlib.h>
30
31 #include "stepmotor.h"
32
33 using namespace upm;
34
StepMotor(int dirPin,int stePin)35 StepMotor::StepMotor (int dirPin, int stePin)
36 : m_pwmStepContext(stePin), m_dirPinCtx(dirPin) {
37 mraa::Result error = mraa::SUCCESS;
38 m_name = "StepMotor";
39
40 m_stePin = stePin;
41 m_dirPin = dirPin;
42
43 error = m_dirPinCtx.dir (mraa::DIR_OUT);
44 if (error != mraa::SUCCESS) {
45 mraa::printError (error);
46 }
47 }
48
49 void
setSpeed(int speed)50 StepMotor::setSpeed (int speed) {
51 if (speed > MAX_PERIOD) {
52 m_speed = MAX_PERIOD;
53 }
54
55 if (speed < MIN_PERIOD) {
56 m_speed = MIN_PERIOD;
57 }
58
59 m_speed = speed;
60 }
61
62 mraa::Result
stepForward(int ticks)63 StepMotor::stepForward (int ticks) {
64 dirForward ();
65 return move (ticks);
66 }
67
68 mraa::Result
stepBackwards(int ticks)69 StepMotor::stepBackwards (int ticks) {
70 dirBackwards ();
71 return move (ticks);
72 }
73
74 mraa::Result
move(int ticks)75 StepMotor::move (int ticks) {
76 mraa::Result error = mraa::SUCCESS;
77
78 m_pwmStepContext.enable (1);
79 for (int tick = 0; tick < ticks; tick++) {
80 m_pwmStepContext.period_us (m_speed);
81 m_pwmStepContext.pulsewidth_us (PULSEWIDTH);
82 }
83 m_pwmStepContext.enable (0);
84
85 return error;
86 }
87
88 mraa::Result
dirForward()89 StepMotor::dirForward () {
90 mraa::Result error = mraa::SUCCESS;
91
92 error = m_dirPinCtx.write (HIGH);
93 if (error != mraa::SUCCESS) {
94 mraa::printError (error);
95 }
96
97 return error;
98 }
99
100 mraa::Result
dirBackwards()101 StepMotor::dirBackwards () {
102 mraa::Result error = mraa::SUCCESS;
103
104 error = m_dirPinCtx.write (LOW);
105 if (error != mraa::SUCCESS) {
106 mraa::printError (error);
107 }
108
109 return error;
110 }
111