1 /*
2  * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
3  * Copyright (c) 2014 Intel Corporation.
4  *
5  * Credits to Adafruit.
6  * Based on Adafruit BMP085 library.
7  *
8  * Permission is hereby granted, free of charge, to any person obtaining
9  * a copy of this software and associated documentation files (the
10  * "Software"), to deal in the Software without restriction, including
11  * without limitation the rights to use, copy, modify, merge, publish,
12  * distribute, sublicense, and/or sell copies of the Software, and to
13  * permit persons to whom the Software is furnished to do so, subject to
14  * the following conditions:
15  *
16  * The above copyright notice and this permission notice shall be
17  * included in all copies or substantial portions of the Software.
18  *
19  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
20  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
21  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
22  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
23  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
24  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
25  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
26  */
27 #pragma once
28 
29 #include <string>
30 #include <math.h>
31 #include <mraa/pwm.hpp>
32 #include <mraa/aio.hpp>
33 #include <mraa/common.hpp>
34 
35 #include <mraa/gpio.hpp>
36 
37 #define MIN_PERIOD         500
38 #define MAX_PERIOD         1000
39 #define PULSEWIDTH         480
40 
41 #define HIGH               1
42 #define LOW                0
43 
44 namespace upm {
45 /**
46  * @brief Stepper Motor library
47  * @defgroup stepper libupm-stepper
48  * @ingroup seeed sparkfun pwm gpio motor
49  */
50 /**
51  * @library stepmotor
52  * @sensor stepmotor
53  * @comname Stepper Motor
54  * @altname EasyDriver Stepper Motor Driver
55  * @type motor
56  * @man seeed sparkfun
57  * @web http://www.schmalzhaus.com/EasyDriver/index.html
58  * @con pwm gpio
59  *
60  * @brief API for the Stepper Motor
61  *
62  * This module defines the Stepper Motor interface. It is compatible with stepper
63  * motor drivers that use 2 pins to control the motor, like an Easy Driver
64  * from Brian Schmalz.
65  *
66  * @image html stepmotor.jpg
67  * @snippet stepmotor.cxx Interesting
68  */
69 class StepMotor {
70     public:
71         /**
72          * Instantiates a StepMotor object
73          *
74          * @param dirPin Direction GPIO pin
75          * @param stePin Stepper pulse PWM pin
76          */
77         StepMotor (int dirPin, int stePin);
78 
79         /**
80          * StepMotor object destructor
81          * no need for the destructor; all the connections will be
82          * closed when m_dirPinCtx and m_pwmStepContext go out of
83          * scope
84          * ~StepMotor ();
85          **/
86 
87         /**
88          * Sets the rotation speed
89          *
90          * @param speed Rotation speed
91          */
92         void setSpeed (int speed);
93 
94         /**
95          * Rotates the motor forward
96          *
97          * @param ticks Number of ticks the motor moves
98          */
99         mraa::Result stepForward (int ticks);
100 
101         /**
102          * Rotates the motor backward
103          *
104          * @param ticks Number of ticks the motor moves
105          */
106         mraa::Result stepBackwards (int ticks);
107 
108     private:
109         std::string         m_name;
110 
111         int                 m_dirPin;
112         int                 m_stePin;
113         int                 m_speed;
114 
115         mraa::Gpio    m_dirPinCtx;
116         mraa::Pwm     m_pwmStepContext;
117 
118         mraa::Result move (int ticks);
119         mraa::Result dirForward ();
120         mraa::Result dirBackwards ();
121     };
122 }
123