src/libs/StepperMotor.cpp

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie 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.
   4       Smoothie 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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7 #include "StepperMotor.h"
   8
   9 #include "Kernel.h"
  10 #include "MRI_Hooks.h"
  11 #include "StepTicker.h"
  12
  13 #include <math.h>
  14 #include "mbed.h"
  15
  16 StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_pin(dir), en_pin(en)
  17 {
  18     set_high_on_debug(en.port_number, en.pin);
  19
  20     steps_per_mm         = 1.0F;
  21     max_rate             = 50.0F;
  22
  23     last_milestone_steps = 0;
  24     last_milestone_mm    = 0.0F;
  25     current_position_steps= 0;
  26     enable(false);
  27     moving= false;
  28     acceleration= NAN;
  29     selected= true;
  30
  31     this->set_direction(false);
  32
  33     this->register_for_event(ON_HALT);
  34     this->register_for_event(ON_ENABLE);
  35 }
  36
  37 StepperMotor::~StepperMotor()
  38 {
  39     THEKERNEL->unregister_for_event(ON_HALT, this);
  40     THEKERNEL->unregister_for_event(ON_ENABLE, this);
  41 }
  42
  43 void StepperMotor::on_halt(void *argument)
  44 {
  45     if(argument == nullptr) {
  46         enable(false);
  47         moving= false;
  48     }
  49 }
  50
  51 void StepperMotor::on_enable(void *argument)
  52 {
  53     enable(argument != nullptr);
  54 }
  55
  56 void StepperMotor::change_steps_per_mm(float new_steps)
  57 {
  58     steps_per_mm = new_steps;
  59     last_milestone_steps = lroundf(last_milestone_mm * steps_per_mm);
  60     current_position_steps = last_milestone_steps;
  61 }
  62
  63 void StepperMotor::change_last_milestone(float new_milestone)
  64 {
  65     last_milestone_mm = new_milestone;
  66     last_milestone_steps = lroundf(last_milestone_mm * steps_per_mm);
  67     current_position_steps = last_milestone_steps;
  68 }
  69
  70 void StepperMotor::set_last_milestones(float mm, int32_t steps)
  71 {
  72     last_milestone_mm= mm;
  73     last_milestone_steps= steps;
  74     current_position_steps= last_milestone_steps;
  75 }
  76
  77 void StepperMotor::update_last_milestones(float mm, int32_t steps)
  78 {
  79     last_milestone_steps += steps;
  80     last_milestone_mm = mm;
  81 }
  82
  83 int32_t StepperMotor::steps_to_target(float target)
  84 {
  85     int32_t target_steps = lroundf(target * steps_per_mm);
  86     return target_steps - last_milestone_steps;
  87 }
  88
  89 // Does a manual step pulse, used for direct encoder control of a stepper
  90 void StepperMotor::manual_step(bool dir)
  91 {
  92     if(!is_enabled()) enable(true);
  93
  94     // set direction if needed
  95     if(this->direction != dir) {
  96         this->direction= dir;
  97         this->dir_pin.set(dir);
  98         wait_us(1);
  99     }
 100
 101     // pulse step pin
 102     this->step_pin.set(1);
 103     wait_us(3);
 104     this->step_pin.set(0);
 105
 106
 107     // keep track of actuators actual position in steps
 108     this->current_position_steps += (dir ? -1 : 1);
 109 }