StepperController Class Reference

#include <StepperController.h>

Inheritance diagram for StepperController:

Classes
struct	StepperControllerParams

Public Types
enum	MOTOR_STATUS {   MOTOR_RUNNING, MOTOR_IDLE, MOTOR_OVERLOAD, MOTOR_ERROR,   MOTOR_UNKNOWN }

Public Member Functions
short	debug ()
short	dir (short val0, short val1)
short	getSpeed ()
short	info ()
bool	isOverloaded ()
short	loop ()
short	onRegisterMethods (Bridge *bridge)
short	pulseWidth (short val0, short val1)
short	setup ()
short	speed (short val0, short val1=0)
	StepperController (Component *owner, short dirPin, short pulsePin, short feedbackPin, short overloadPin, short enabled, short speed, short pulseWidth, short dir, short id, short addressStart)

Private Attributes
short	_addressStart
short	_dir
short	_dirPin
short	_enabled
short	_feedback
short	_overload
short	_pulsePin
short	_pulseWidth
short	_speed
short	_status
AccelStepper	stepper

Detailed Description

Definition at line 19 of file StepperController.h.

Member Enumeration Documentation

MOTOR_STATUS

enum StepperController::MOTOR_STATUS

Enumerator
MOTOR_RUNNING
MOTOR_IDLE
MOTOR_OVERLOAD
MOTOR_ERROR
MOTOR_UNKNOWN

Definition at line 23 of file StepperController.h.

    {
        MOTOR_RUNNING,
        MOTOR_IDLE,
        MOTOR_OVERLOAD,
        MOTOR_ERROR,
        MOTOR_UNKNOWN
    };

Constructor & Destructor Documentation

StepperController()

StepperController::StepperController ( Component *  owner, short  dirPin, short  pulsePin, short  feedbackPin, short  overloadPin, short  enabled, short  speed, short  pulseWidth, short  dir, short  id, short  addressStart  )

inline

Definition at line 47 of file StepperController.h.

                            : ModbusValue<int[]>(addressStart),
                              Component("Stepper", id, Component::COMPONENT_DEFAULT, owner),
                              stepper(AccelStepper::DRIVER, pulsePin, dirPin),
                              _speed(speed),
                              _pulseWidth(pulseWidth),
                              _feedback(feedbackPin),
                              _overload(overloadPin),
                              _enabled(enabled),
                              _dir(dir),
                              _dirPin(dirPin),
                              _pulsePin(pulsePin),
                              _addressStart(addressStart),
                              _status(MOTOR_STATUS::MOTOR_RUNNING)
    {
        //setFlag(OBJECT_RUN_FLAGS::E_OF_DEBUG);
        SBI(nFlags, OBJECT_NET_CAPS::E_NCAPS_MODBUS);
        Log.verboseln("stepper controller created");
    }

Member Function Documentation

debug()

short StepperController::debug ( )

inline

Definition at line 114 of file StepperController.h.

                 {
        Log.verboseln("StepperController::debug Speed=%d | Dir=%d | Address=%d | Status=%d | Load=%d", _speed, _dir, addr, _status, analogRead(_overload));
        return E_OK;
    }

dir()

short StepperController::dir ( short  val0, short  val1  )

inline

Definition at line 87 of file StepperController.h.

    {
        _dir = val0;
        return E_OK;
    }

getSpeed()

short StepperController::getSpeed ( )

inline

Definition at line 84 of file StepperController.h.

                    {
        return _speed;
    }

info()

short StepperController::info ( )

inline

Definition at line 118 of file StepperController.h.

    {
        // Log.verboseln(F("StepperController::debug Speed=%d | Dir=%d | Address=%d | Status=%d" CR), _speed, _dir, addr, _status);
        return E_OK;
    }

isOverloaded()

bool StepperController::isOverloaded ( )

inline

Definition at line 158 of file StepperController.h.

    {
        return analogRead(_overload) > STEPPER_OVERLOAD_THRESHOLD_0;
    }

loop()

short StepperController::loop ( )

inline

Definition at line 123 of file StepperController.h.

    {
        short netSpeed = clamp<short>(netVal(addr), 0, STEPPER_MAX_SPEED_0);
        short netDir = clamp<short>(netVal(addr + MB_RW_STEPPER_DIR_OFFSET), 0, 1);
        short netStatus = netVal(addr + MB_RW_STEPPER_STATUS_OFFSET);
        short netUser = netVal(addr + MB_RW_STEPPER_USER_OFFSET);
        if (netSpeed != _speed)
        {
            _speed = netSpeed;
        }
        if (netDir != _dir)
        {
            _dir = netDir;
        }
        int range[STEPPER_MODUBUS_RANGE] = {_speed, netDir, netSpeed, 0};
        onSet(range, STEPPER_MODUBUS_RANGE);
        stepper.setPinsInverted(_dir, false, false);
        stepper.setSpeed(_speed  * 10);
        stepper.runSpeed();
        return E_OK;
    }

onRegisterMethods()

short StepperController::onRegisterMethods ( Bridge *  bridge )

inline

Definition at line 145 of file StepperController.h.

    {
        // bridge->registerMemberFunction(id, this, C_STR("setFlag"), (ComponentFnPtr)&StepperController::setFlag);
        // bridge->registerMemberFunction(id, this, C_STR("clearFlag"), (ComponentFnPtr)&StepperController::clearFlag);
        // bridge->registerMemberFunction(id, this, C_STR("info"), (ComponentFnPtr)&StepperController::info);
        /*
        bridge->registerMemberFunction(id, this, C_STR("speed"), (ComponentFnPtr)&StepperController::speed);
        bridge->registerMemberFunction(id, this, C_STR("pulseWidth"), (ComponentFnPtr)&StepperController::pulseWidth);
        bridge->registerMemberFunction(id, this, C_STR("dir"), (ComponentFnPtr)&StepperController::dir);
        */
        return E_OK;
    }

pulseWidth()

short StepperController::pulseWidth ( short  val0, short  val1  )

inline

Definition at line 109 of file StepperController.h.

    {
        _pulseWidth = val0;
        return E_OK;
    }

setup()

short StepperController::setup ( )

inline

Definition at line 92 of file StepperController.h.

    {
        setRegisterMode(MB_REGISTER_MODE::E_MB_REGISTER_MODE_READ_WRITE);
        setNumberAddresses(STEPPER_MODUBUS_RANGE);
        setFunctionCode(MB_FC::MB_FC_READ_REGISTERS);
        setAddress(_addressStart);
        stepper.setMaxSpeed(STEPPER_MAX_SPEED_0);
        stepper.setMinPulseWidth(_pulseWidth);
        stepper.setPinsInverted(_dir, false, false);
        
        int range[STEPPER_MODUBUS_RANGE] = {_speed, _dir, _status, analogRead(_overload)};
        onSet(range, STEPPER_MODUBUS_RANGE);
        //Log.verboseln("stepper controller setup:%d", _addressStart);
        //Log.verboseln("stepper controller dir:%d | pulse:%d | speed:%d", _dirPin,_pulsePin, _speed);
        stepper.setSpeed(_speed);
        return E_OK;
    }

speed()

short StepperController::speed ( short  val0, short  val1 = 0  )

inline

Definition at line 77 of file StepperController.h.

    {
        _speed = val0;
        int range[STEPPER_MODUBUS_RANGE] = {_speed, _dir, _status, 0};
        onSet(range, STEPPER_MODUBUS_RANGE);
        return E_OK;
    }

Member Data Documentation

_addressStart

short StepperController::_addressStart

private

Definition at line 170 of file StepperController.h.

_dir

short StepperController::_dir

private

Definition at line 166 of file StepperController.h.

_dirPin

short StepperController::_dirPin

private

Definition at line 167 of file StepperController.h.

_enabled

short StepperController::_enabled

private

Definition at line 174 of file StepperController.h.

_feedback

short StepperController::_feedback

private

Definition at line 172 of file StepperController.h.

_overload

short StepperController::_overload

private

Definition at line 173 of file StepperController.h.

_pulsePin

short StepperController::_pulsePin

private

Definition at line 168 of file StepperController.h.

_pulseWidth

short StepperController::_pulseWidth

private

Definition at line 169 of file StepperController.h.

_speed

short StepperController::_speed

private

Definition at line 165 of file StepperController.h.

_status

short StepperController::_status

private

Definition at line 171 of file StepperController.h.

stepper

AccelStepper StepperController::stepper

private

Definition at line 164 of file StepperController.h.

---

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

• StepperController.h