StepDirectionStepper Class Reference

#include <stepper.h>

Inheritance diagram for StepDirectionStepper:

Collaboration diagram for StepDirectionStepper:

Public Member Functions
void	initialize (brain_pin_e stepPin, brain_pin_e directionPin, pin_output_mode_e directionPinMode, float reactionTime, brain_pin_e enablePin, pin_output_mode_e enablePinMode)
bool	step (bool positive) override
Public Member Functions inherited from StepperHw
void	pause (int divisor=1) const
virtual void	sleep ()

Private Member Functions
bool	pulse ()
void	setDirection (bool isIncrementing)

Private Attributes
bool	m_currentDirection = false
OutputPin	directionPin
OutputPin	stepPin
OutputPin	enablePin
pin_output_mode_e	directionPinMode
pin_output_mode_e	stepPinMode
pin_output_mode_e	enablePinMode

Additional Inherited Members
Protected Member Functions inherited from StepperHw
void	setReactionTime (float ms)

Detailed Description

Definition at line 30 of file stepper.h.

Member Function Documentation

initialize()

void StepDirectionStepper::initialize	(	brain_pin_e	stepPin,
		brain_pin_e	directionPin,
		pin_output_mode_e	directionPinMode,
		float	reactionTime,
		brain_pin_e	enablePin,
		pin_output_mode_e	enablePinMode
	)

Definition at line 213 of file stepper.cpp.

                                                                                                                                                                                                             {
    if (!isBrainPinValid(p_stepPin) || !isBrainPinValid(p_directionPin)) {
        return;
    }
 
    setReactionTime(reactionTime);
 
    directionPinMode = p_directionPinMode;
    directionPin.initPin("Stepper DIR", p_directionPin, directionPinMode);
 
    stepPinMode = OM_DEFAULT;   // todo: do we need configurable stepPinMode?
    stepPin.initPin("Stepper step", p_stepPin, stepPinMode);
 
    enablePinMode = p_enablePinMode;
    enablePin.initPin("Stepper EN", p_enablePin, enablePinMode);
 
    // All pins must be 0 for correct hardware startup (e.g. stepper auto-disabling circuit etc.).
    enablePin.setValue(true); // disable stepper
    stepPin.setValue(false);
    directionPin.setValue(false);
    m_currentDirection = false;
}

Referenced by applyIACposition().

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pulse()

bool StepDirectionStepper::pulse ( )

private

Definition at line 175 of file stepper.cpp.

                                 {
    enablePin.setValue(false); // enable stepper
 
    stepPin.setValue(true);
    pause();
 
    stepPin.setValue(false);
    pause();
 
    enablePin.setValue(true); // disable stepper
 
    return true;
}

Referenced by step().

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setDirection()

void StepDirectionStepper::setDirection ( bool  isIncrementing )

private

Definition at line 165 of file stepper.cpp.

                                                           {
    if (isIncrementing != m_currentDirection) {
        // compensate stepper motor inertia
        pause();
        m_currentDirection = isIncrementing;
    }
 
    directionPin.setValue(isIncrementing);
}

Referenced by step().

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step()

bool StepDirectionStepper::step ( bool  positive )

overridevirtual

Implements StepperHw.

Definition at line 202 of file stepper.cpp.

                                             {
    setDirection(positive);
    return pulse();
}

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Field Documentation

directionPin

OutputPin StepDirectionStepper::directionPin

private

Definition at line 42 of file stepper.h.

Referenced by initialize(), and setDirection().

directionPinMode

pin_output_mode_e StepDirectionStepper::directionPinMode

private

Definition at line 43 of file stepper.h.

Referenced by initialize().

enablePin

OutputPin StepDirectionStepper::enablePin

private

Definition at line 42 of file stepper.h.

Referenced by initialize(), and pulse().

enablePinMode

pin_output_mode_e StepDirectionStepper::enablePinMode

private

Definition at line 43 of file stepper.h.

Referenced by initialize().

m_currentDirection

bool StepDirectionStepper::m_currentDirection = false

private

Definition at line 40 of file stepper.h.

Referenced by initialize(), and setDirection().

stepPin

OutputPin StepDirectionStepper::stepPin

private

Definition at line 42 of file stepper.h.

Referenced by initialize(), and pulse().

stepPinMode

pin_output_mode_e StepDirectionStepper::stepPinMode

private

Definition at line 43 of file stepper.h.

Referenced by initialize().

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

• hw_layer/stepper.h
• hw_layer/stepper.cpp