Motor Manager. More...

#include <OMMotor.h>

Public Member Functions
	OMMotor ()
void	ms (uint8_t)
uint8_t	ms ()
void	backlash (uint8_t)
uint8_t	backlash ()
void	setHandler (void(*)(uint8_t))
void	enable (bool)
bool	enable ()
void	continuous (bool)
bool	continuous ()
void	contSpeed (unsigned int)
unsigned int	contSpeed ()
void	stepDelayMin (unsigned int)
unsigned int	stepDelayMin ()
void	stepDelayMax (unsigned int)
unsigned int	stepDelayMax ()
void	move ()
void	move (bool, unsigned long)
void	home ()
void	homeSet ()
long	homeDistance ()
Static Public Member Functions
static void	dir (bool)
static bool	dir ()
static bool	running ()
static void	sleep (bool)
static bool	sleep ()
static void	steps (unsigned long)
static unsigned long	steps ()
static void	maxSteps (unsigned long)
static unsigned long	maxSteps ()
static unsigned long	stepsMoved ()
static void	stop ()
static void	clear ()

Detailed Description

Motor Manager.

The Motor Manager class provides the ability to run a stepper motor on the nanoMoCo platform in either continuous motion or on-demand motion using asynchronous (non-blocking) control.

All actions performed by the Motor Manager are non-blocking, and this library uses the Timer1 library to achieve this. For this reason, you may only have one such object instantiated in your program, and under no circumstances should you attempt to use Timer1 in another part of your program while a motor action is being performed.

Status reporting from the Motor Manager is handled via a callback function, which you may specify. This function will be called at specified times with a special code to indicate the status. For more information on this, see setHandler().

It is not possible to specify the motor control lines at this time, and the library will only work for other Arduino-compatible devices when they use the same pins for the stepper driver.

Example:

   // note: You -always- have to include the TimerOne library in an arduino
   // sketch before including the OMMotor header
   
#include "TimerOne.h"
#include "OMMotor.h"

OMMotor Motor = OMMotor();

void setup() {
  
  Motor.enable(true);
  Motor.continuous(false);
  Motor.setHandler(motorCallback);
  
  Serial.begin(19200);
  
}

void loop() {
 
 if( ! Motor.running() ) {
  delay(1000);
  Serial.println("Moving!");
  Motor.move(true, 1000);
 }
 
}

void motorCallback( byte code ) {
  
  if( code == OM_MOT_DONE ) {
    Serial.println("Got Done!");
    Serial.print("Moved: ");
    unsigned long smoved = Motor.stepsMoved();
    Serial.println(smoved, DEC);
  }
  else {
    Serial.println("Got Begin!");
  }
  
}

Author:: C. A. Church

This program 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.

This program 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 this program. If not, see <http://www.gnu.org/licenses/>.

Definition at line 146 of file OMMotor.h.

Constructor & Destructor Documentation

OMMotor ( )

Constructor

Creates a new insstance of the OMMotor class. Sets all control outputs to the output state.

Definition at line 66 of file OMMotor.cpp.

Member Function Documentation

void backlash ( uint8_t p_Back )

Set Backlash Compensation Amount

Sets the current backlash compensation amount.

The backlash compensation allows for adjustments to moves when the gear train attached to your motor exhibits backlash. If the direction of the motor is changed between moves, the specified amount of steps will be added to the next movement, to take up the slack created by the backlash.

Parameters:

p_Back The backlash compensation amount, in steps

Definition at line 294 of file OMMotor.cpp.

uint8_t backlash ( )

Get Backlash Compensation Amount

Returns the currently set backlash compensation amount.

Returns:: Backlash compensation amount

Definition at line 276 of file OMMotor.cpp.

void clear ( ) [static]

Clear Steps Moved

Clears the count of steps moved. Additionally, if the motor is currently running, any movement will be immediately stopped, and the callback will be executed with the OM_MOT_DONE argument.

This method does NOT reset the home location for the motor.

Definition at line 773 of file OMMotor.cpp.

void continuous ( bool p_En )

Set Continuous Motion Mode

Enables or disables continuous motion mode.

In continuous motion mode, the motor will run continuously at the specified speed until either a stop() request is received, or maxSteps() are reached. When continuous mode is disabled, the motor only moves the distance specified by steps() or passed via the two-argument form of move().

Note: you may adjust the currently moving speed at any time, using contSpeed().

Of additional note: when in continous mode, the callback will be executed immediately and passed the OM_MOT_DONE value when calling move(), indicating that you are free to do other activities while the motor is moving.

Below is an example of performing aa continuous motion move, with a maxSteps() value set. The motor will move at a speed of 1,000 steps/second, and will automatically stop its self after 5,000 steps have been taken. Once the motor is stopped, the steps moved value is cleared out, and we're ready to move again.

#include "TimerOne.h"
#include "OMMotor.h"

OMMotor Motor = OMMotor();

unsigned int max_steps = 5000;

void setup() {
  
  Motor.enable(true);
  Motor.sleep(true);
  
  Motor.continuous(true);
  Motor.contSpeed(1000);
  Motor.maxSteps(5000);
  
  Motor.setHandler(motorCallback);
  
  Serial.begin(19200);
  
}

void loop() {
 
 if( ! Motor.running() ) {

  delay(1000);
  Serial.println("Clearing Motor");
  Motor.clear();
  Serial.println("Starting Continuous Motion!");
  Motor.move();
  
 }
  else {

    Serial.print("Moved: ");
    unsigned long smoved = Motor.stepsMoved();
    Serial.println(smoved, DEC);
    
    delay(1000);   
     
  }
  
}

void motorCallback( byte code ) {
  
  if( code == OM_MOT_DONE ) {
    Serial.println("Got Done!");
    Serial.print("Moved: ");
    unsigned long smoved = Motor.stepsMoved();
    Serial.println(smoved, DEC);
  }
  else {
    Serial.println("Got Begin!");
  }
}

Parameters:

p_En	Enable (true) or Disable (false() continuous motion

Definition at line 453 of file OMMotor.cpp.

bool continuous ( )

Get Continuous Motion Value

Returns the current continuous motion value.

Returns:: Enabled (true), or Disabled (false)

Definition at line 466 of file OMMotor.cpp.

void contSpeed ( unsigned int p_Speed )

Set Continuous Motion Speed

Sets the current continuous motion speed, in steps per second.

You may set the speed even while a continuous move is running, and the speed will be immediately changed.

Parameters:

p_Speed Steps per second

update skip settings, if needed

Definition at line 481 of file OMMotor.cpp.

unsigned int contSpeed ( )

Get Continuous Motion Speed

Returns the current continuous motion speed.

Returns:: Steps per second

Definition at line 496 of file OMMotor.cpp.

bool dir ( ) [static]

Get Current Direction

Returns the current direction value.

Note: if called in the middle of a move, the value returned may be different than the value after the move is completed, if you called move() in its two-argument form.

Returns:: The current ddirection value (true or false)

Definition at line 149 of file OMMotor.cpp.

void dir ( bool p_Dir ) [static]

Set Current Direction

Sets the current direction value.

Note: if called while a move is underway, the direction will be changed immediately, but backlash compensation will not be applied. Additionally, if this method is called during a move executed via the two-argument form of move(), then the direction value may not be retained after the move is completed.

Parameters:

p_Dir Direction value (true or false)

Definition at line 168 of file OMMotor.cpp.

void enable ( bool p_En )

Enable Motor

Sets the current Enable/Disable flag value.

If the motor is not enabled, calls to move() will return immediately and trigger a callback with the OM_MOT_DONE value. It will not be possible to move the motor in any fashion while the motor is disabled.

Parameters:

p_En	Enable (true) or Disable (false) the motor

Definition at line 312 of file OMMotor.cpp.

bool enable ( )

Get Enable Flag Value

Returns the current enable flag value.

Returns:: Enabled (true) oor Disabled (false);

Definition at line 325 of file OMMotor.cpp.

void home ( )

Send Motor Home

Send motor home immediately.

This method will not stop any ongoing move, but it will immediately send the motor back to its home position, and will result in an aborted move.

Like other moves, this move is non-blocking and will trigger the callback to be executed with the OM_MOT_DONE argument when the send to home move is completed.

Definition at line 1070 of file OMMotor.cpp.

long homeDistance ( )

Distance from Home

Returns the number of steps and direction back to the home position.

Returns:: A signed long, representing the distance and direction from home. A negative number represents the motor is that many steps in the false direction from home, whereas positive represents that many steps in the true ddirection from home.

Definition at line 1054 of file OMMotor.cpp.

void homeSet ( )

Set Home

Sets the current position of the motor as the home position.

Definition at line 1040 of file OMMotor.cpp.

void maxSteps ( unsigned long p_Steps ) [static]

Set Maximum Steps

Sets the maximum steps to be taken, for both continuous and non- continuous moves.

Once this steps count is achieved, the motor will be stopped immediately and the callback will be called with the OM_MOT_DONE paarameter. It will not be possible to move again until the clear() method has been called.

Set the maximum steps to 0 to disable this feature.

Parameters:

p_Steps Maximum steps to move

Definition at line 554 of file OMMotor.cpp.

unsigned long maxSteps ( ) [static]

Get Maximum Steps

Returns the current maximum step count.

Returns:: Maximum Steps to Move

Definition at line 566 of file OMMotor.cpp.

void move ( )

Move Now

Immediately executes a move using saved parameters.

This method will execute either a continuous or non-continuous move using the values currently saved in dir() and steps() or contSpeed(), depending on your current motion type.

If a move can be executed, asynchronous movement is initiated and the callback is called. When in continuous motion, the OM_MOT_DONE argument will be passed to the callback, otherwise OM_MOT_BEGIN will be passed.

If the motor is disabled, or the maximum # of steps has been reached, the callback will be executed with the OM_MOT_DONE argument immediately, and no move will take place.

Definition at line 672 of file OMMotor.cpp.

void move	(	bool	p_Dir,
		unsigned long	p_Steps
	)

Move Now

Immediately executes a move using specified parameters.

This method will execute either a continuous or non-continuous move using the values passed as arguments. If the direction of the motor set by dir() is different than the value passed as an argument, dir() will return the value passed here as an argument until the move is completed or stopped.

For continuous motion, you must specify 0 as the number of steps. To limit continuous motion, use maxSteps() instead.

If a move can be executed, asynchronous movement is initiated and the callback is called. When in continuous motion, the OM_MOT_DONE argument will be passed to the callback, otherwise OM_MOT_BEGIN will be passed.

If the motor is disabled, or the maximum # of steps has been reached, the callback will be executed with the OM_MOT_DONE argument immediately, and no move will take place.

Definition at line 699 of file OMMotor.cpp.

uint8_t ms ( )

Get MicroSteps

Returns the current microstep setting.

Returns:: The current microstep setting.

Definition at line 86 of file OMMotor.cpp.

void ms ( uint8_t p_Div )

Set MicroSteps

Sets the current microstep setting. You may choose from the following values:

1, 2, 4, 8, or 16

Parameters:

p_Div Microstep setting value

Definition at line 103 of file OMMotor.cpp.

bool running ( ) [static]

Motor Running?

Returns whether or not the motor is currently moving.

Returns:: Running (true) or Stopped (false)

Definition at line 508 of file OMMotor.cpp.

void setHandler ( void(*)(uint8_t) p_Func )

Set Callback Handler

As actions start and complete, a callback is used to signal what is happening, without having to query the method to see if a given action is still occuring.

By passing a function pointer to this method, that function will be executed at each one of these moments, and passed a single, one byte argument that matches the signal which is to be sent. The template for this function is:

 void function(byte val) { }

The following codes are defined:

 OM_MOT_DONE 
      - The motor has stopped moving
 OM_MOT_MOVING
      - The motor has begun moving

An example of an appropriate callback handler:

 #include "TimerOne.h"
#include "OMMotor.h"

OMMotor Motor = OMMotor();

void setup() {
  
  Motor.enable(true);
  Motor.continuous(false);
  Motor.setHandler(motorCallback);
  
  Serial.begin(19200);
  
}

void loop() {
 
 if( ! Motor.running() ) {
  delay(1000);
  Serial.println("Moving!");
  Motor.move(true, 1000);
 }
 
}

void motorCallback( byte code ) {
  
  if( code == OM_MOT_DONE ) {
    Serial.println("Got Done!");
    Serial.print("Moved: ");
    unsigned long smoved = Motor.stepsMoved();
    Serial.println(smoved, DEC);
  }
  else {
    Serial.println("Got Begin!");
  }
  
}

Parameters:

p_Func A pointer to a function taking a single byte argument

Definition at line 256 of file OMMotor.cpp.

void sleep ( bool p_En ) [static]

Enable Sleep

Sets the current sleep between move flag value and immediately changes the status off the motor driver sleep line.

When sleep is enabled, the motor driver will be put to sleep between moves to conserve energy and reduce the heat of both the motor and the driver.

Parameters:

p_En	Enable (true) or Disable (false) sleeps between moves

Definition at line 343 of file OMMotor.cpp.

bool sleep ( ) [static]

Get Sleep Flag Value

Returns the current value of the sleep between moves flag.

Returns:: Enabled (true), Disabled (false()

Definition at line 363 of file OMMotor.cpp.

unsigned int stepDelayMax ( )

Get Maximum Step Delay

Returns the current maximum step delay.

Returns:: Maximum delay between steps, in microseconds

Definition at line 638 of file OMMotor.cpp.

void stepDelayMax ( unsigned int p_Steps )

Set Maximum Step Delay

Sets the maximum delay between steps, in microseconds.

This setting controls how fast steps will be taken during a non-continuous motion move. Maximum step delay controls the initial delay between steps as a non-continuous motion begins. The wider the difference between the minimum and maximum step delay, the longer and smoother the acceleration into an individual move will be.

For continuous motion moves, use the contSpeed() method instead.

The default value is 1400

Parameters:

p_Steps Maximum delay between steps, in microseconds

Definition at line 625 of file OMMotor.cpp.

unsigned int stepDelayMin ( )

Get Minimum Step Delay

Returns the current minimum step delay.

Returns:: Minimum delay between steps, in microseconds

Definition at line 602 of file OMMotor.cpp.

void stepDelayMin ( unsigned int p_Steps )

Set Minimum Step Delay

Sets the minimum delay between steps, in microseconds.

This setting controls how fast steps will be taken during a non-continuous motion move. The lower this setting, the faster the motor will step. The wider the difference between the minim and maximum step delay, the longer and smoother the acceleration into an individual move will be.

For continuous motion moves, use the contSpeed() method instead.

The default value is 1,000

Parameters:

p_Steps Minimum delay between steps, in microseconds

Definition at line 588 of file OMMotor.cpp.

unsigned long steps ( ) [static]

Get Steps Per Move

Returns the current steps per move for non-continuous motion moves.

Returns:: Steps Per Move

Definition at line 535 of file OMMotor.cpp.

void steps ( unsigned long p_Steps ) [static]

Set Steps per Move

Sets the current steps per move for non-continuous motion moves.

This method sets a default steps per move so that one may use move() with no arguments.

Parameters:

p_Steps Steps Per Move

Definition at line 523 of file OMMotor.cpp.

unsigned long stepsMoved ( ) [static]

Get Steps Moved

Returns the count of steps moved since the last clear() call.

Returns:: Steps moved

Definition at line 650 of file OMMotor.cpp.

void stop ( ) [static]

Stop Immediately

Immediately stops any movement in progress.

Triggers the callback with the OM_MOT_DONE argument.

Definition at line 743 of file OMMotor.cpp.

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

C:/source/openmoco/openmoco/OpenMocoComponents/nanoMoCo/trunk/Libraries/OMMotor/OMMotor.h
C:/source/openmoco/openmoco/OpenMocoComponents/nanoMoCo/trunk/Libraries/OMMotor/OMMotor.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation