StepperMotor.cpp

/*
##########################################################################
##                          ARDUINO SOURCES                             ##
##########################################################################
*/
/*
   ___|  _)  | _)       _)                         ___|
 \___ \   |  |  |   __|  |  |   |  __ `__ \       |       _ \    __|  __ \
       |  |  |  |  (     |  |   |  |   |   |      |      (   |  |     |   |
 _____/  _| _| _| \___| _| \__,_| _|  _|  _|     \____| \___/  _|     .__/
                                                                     _|
Code source libre de droit. Si vous utilisez mon code, merci à vous d'en préciser la source.

@Date : 28/09/2011
@Auteur : Silicium Corp
*/
#include "StepperMotor.h"

//===============================================================
StepperMotor::StepperMotor(int pps, int* pinArduino)
{
    for (int i = 0; i < 4; i++)
    {
        pinMotor[i] = pinArduino[i];
    }
    for (int j = 0; j < 4; j++)
    {
        pinMode(pinMotor[j], OUTPUT);
    }
    setMotorSpeed(pps);
    init();
}
//===============================================================
void StepperMotor::init()
{
    elapsedPulse = 0;
    stopMarker = 0;
    workInProgress = false;
    isLaunch = false;
    way = FORWARD;
    nextPulse = B00001000;
    timing.setCycleTime(coreSpeed);
    timing.run();
}
//===============================================================
void StepperMotor::pulse()
{
    if (workInProgress)
    {
        if (isLaunch)
        {
            if(timing.isOutOfDate())
            {
                electrikChoc();
                elapsedPulse++;
            }
        }
        else
        {
            if (elapsedPulse <= stopMarker)
            {
                if(timing.isOutOfDate())
                {
                    electrikChoc();
                    elapsedPulse++;
                }
            }
            else
            {
                workInProgress = false;
            }
        }
    }
}

//===============================================================
void StepperMotor::electrikChoc()
{
    for (int i = 0; i < 4; i++)
    {
        digitalWrite(pinMotor[i], (nextPulse>>(3 - i))&0x01);
    }
    updateNextPulse();
}
//===============================================================
void StepperMotor::updateNextPulse()
{
    if (way == FORWARD)
    {
        nextPulse >>= 1;
    }
    else
    {
        nextPulse <<= 1;
    }

    if (nextPulse == B00000000)
    {
        nextPulse = B00001000;
    }
    else if (nextPulse == B00010000)
    {
        nextPulse = B00000001;
    }
}
//===============================================================
void StepperMotor::launch()
{
    isLaunch = true;
    workInProgress = true;
}
//===============================================================
void StepperMotor::stopNow()
{
    workInProgress = false;
    isLaunch = false;
}
//===============================================================
void StepperMotor::setMotorSpeed(int pps)
{
    motorSpeed = pps;
    coreSpeed = 1000 / pps;
    timing.setCycleTime(coreSpeed);
}
//===============================================================
void StepperMotor::setStepOrder(int nbStep)
{
    stopMarker = elapsedPulse + nbStep;
    workInProgress = true;
    isLaunch = false;
}
//===============================================================
void StepperMotor::setWay(boolean sense)
{
    way = sense;
}
//===============================================================
boolean StepperMotor::getWay()
{
    return(way);
}
//===============================================================
boolean StepperMotor::getIsLauch()
{
    return(isLaunch);
}
//===============================================================
boolean StepperMotor::getWorking()
{
    return(workInProgress);
}
//===============================================================
int StepperMotor::getMotorSpeed()
{
    return(motorSpeed);
}
//===============================================================
int StepperMotor::getElapsedPulse()
{
    return(elapsedPulse);
}