From 5d73a99b6d6b29892ccde8a1e8f1436616d5101c Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Thu, 6 Jul 2023 11:06:21 +0200
Subject: [PATCH] Split motor.h into motor.h an motor.cpp, dding a few fuction
(some setters missing and conversion) and adding comments.
---
motor.cpp | 240 ++++++++++++++++++++++++++++++++++++++++++++++++++++--
motor.h | 186 +++++++++---------------------------------
2 files changed, 270 insertions(+), 156 deletions(-)
diff --git a/motor.cpp b/motor.cpp
index 488c402..5becfda 100644
--- a/motor.cpp
+++ b/motor.cpp
@@ -1,14 +1,236 @@
#include "motor.h"
-
-
-
-
-
-
-
-
-
+//CONSTRUCTORS
+Motor :: Motor (MotorHardware_t& stepper): stepper(stepper)
+{
+ set_physical(300,300, 1);
+ set_accel_mm_per_sec_per_sec(0.5); // <----- this is not yet configured by user
+}
+
+
+//SETTERS
+void Motor :: set_physical (int steps_per_revolution, float mm_per_revolution, bool forward_clockwise)
+{
+//Useful so the user can change motor caracteristics
+ set_steps_per_revolution(steps_per_revolution);
+ set_mm_per_revolution(mm_per_revolution);
+ set_clockwise_equals_forward(forward_clockwise);
+}
+
+void Motor :: set_steps_per_revolution(float steps_per_revolution)
+{
+ _steps_per_revolution = steps_per_revolution;
+}
+
+void Motor :: set_mm_per_revolution (float mm_per_revolution)
+{
+ _mm_per_revolution = mm_per_revolution;
+}
+
+void Motor :: set_accel_mm_per_sec_per_sec (float acceleration_mm_per_sec_per_sec)
+{
+ if (acceleration_mm_per_sec_per_sec == 0)
+ acceleration_mm_per_sec_per_sec = 1000;
+ _acceleration_mm_per_sec_per_sec = acceleration_mm_per_sec_per_sec;
+#if !CORE_MOCK
+ stepper.setAcceleration(mm_to_step(acceleration_mm_per_sec_per_sec));
+#endif
+}
+
+void Motor :: set_clockwise_equals_forward (bool forward_clockwise)
+{
+ _clockwise_equals_forward = forward_clockwise;
+}
+
+void Motor :: set_speed_mm_per_sec (float mm_per_sec)
+{
+#if !CORE_MOCK
+ stepper.setMaxSpeed(mm_to_step(mm_per_sec));
+#endif
+}
+
+
+//GETTERS
+float Motor :: get_steps_per_revolution()
+{
+ return _steps_per_revolution;
+}
+
+float Motor :: get_mm_per_revolution () const
+{
+ return _mm_per_revolution;
+}
+
+bool Motor :: get_clockwise_equals_forward ()
+{
+ return _clockwise_equals_forward;
+}
+
+float Motor :: get_accel_mm_per_sec_per_sec () const
+{
+ return _acceleration_mm_per_sec_per_sec;
+}
+
+
+//CONVERSIONS
+float Motor :: mm_to_step (float mm) const
+/***
+-Argument : Distance in mm.
+-Return : The number of step associated.
+-Action : /
+***/
+{
+ return mm * _steps_per_revolution / _mm_per_revolution;
+}
+
+float Motor :: step_to_mm (int step) const
+/***
+-Argument : Number of step.
+-Return : Distance in mm associated.
+-Action : /
+***/
+{
+ return step * _mm_per_revolution / _steps_per_revolution;
+}
+
+//MOVEMENTS
+void Motor :: move_to_step (int step)
+/***
+-Argument : Number of step.
+-Return : /
+-Action : Move the number of step required.
+***/
+{
+#if !CORE_MOCK
+ cli();
+ set_accel_mm_per_sec_per_sec(_acceleration_mm_per_sec_per_sec);
+ if (_mm_per_revolution > 0 && _steps_per_revolution > 0)
+ stepper.moveTo(_clockwise_equals_forward? step: -step);
+ sei();
+#endif
+ Serial.printf("# move to: %d step %g mm\n", step, step_to_mm(step));
+}
+
+void Motor :: moveToMm (float mm)
+/***
+-Argument : distace in mm
+-Return : /
+-Action : Move to the distance required.
+***/
+{
+ Serial.printf("# moving to %g mm / %g steps\n",
+ mm,
+ mm_to_step(mm));
+ move_to_step(mm_to_step(mm));
+}
+
+void Motor :: stop ()
+/***
+-Argument : /
+-Return : /
+-Action : Stop the motor.
+***/
+{
+#if !CORE_MOCK
+ cli();
+ stepper.stop();
+ sei();
+#endif
+}
+
+void Motor :: stay_here ()
+/***
+-Argument : /
+-Return : /
+-Action : Stop the movement but the motor is still running (it helps to maintain the position more precisely if there is a resistance)
+***/
+{
+#if !CORE_MOCK
+ cli();
+ stepper.setAcceleration(1e20);
+ stepper.moveTo(stepper.currentPosition()); // change target to here
+ set_accel_mm_per_sec_per_sec(_acceleration_mm_per_sec_per_sec);
+ sei();
+#endif
+}
+
+bool Motor :: motor_is_running () //return true if the motor is currently running
+/***
+-Argument : /
+-Return : A boolean to indicates if the motor is running.
+-Action : /
+***/
+{
+ return (stepper.speed() != 0);
+}
+
+
+//POSITION
+int Motor :: where_step ()
+/***
+-Argument : /
+-Return : The current position in step.
+-Action : /
+***/
+{
+#if CORE_MOCK
+ return 0;
+#else
+ return stepper.currentPosition() * (_clockwise_equals_forward? 1: -1);
+#endif
+}
+
+int Motor :: where_mm ()
+/***
+-Argument : /
+-Return : The current position in mm.
+-Action : /
+***/
+{
+#if CORE_MOCK
+ return 0;
+#else
+ return step_to_mm(stepper.currentPosition() * (_clockwise_equals_forward? 1: -1));
+#endif
+}
+
+void Motor :: reset_position()
+/***
+-Argument : /
+-Return : /
+-Action : Set the curent position as the zero.
+***/
+{Motor
+#if !CORE_MOCK
+ stop();
+ cli();
+ stepper.setCurrentPosition(0);
+ sei();
+#endif
+}
+
+//CONFIGURATION
+void Motor :: show_configuration ()
+/***
+-Argument : /
+-Return : /
+-Action : Print the current motor configuration.
+***/
+{
+ Serial.printf("# %g mm/rev\n"
+ "# %d steps/rev\n"
+ "# %g steps/mm\n"
+ "# max speed: %g steps/s %g mm/s\n"
+ "# accel: %g steps/s/s %g mm/s/s\n",
+ _mm_per_revolution,
+ _steps_per_revolution,
+ _steps_per_revolution / _mm_per_revolution,
+ stepper.maxSpeed(),
+ step_to_mm(stepper.maxSpeed()),
+ stepper.acceleration(),
+ step_to_mm(stepper.acceleration())
+ );
+}
diff --git a/motor.h b/motor.h
index b00f7c2..b6ee6c8 100644
--- a/motor.h
+++ b/motor.h
@@ -5,7 +5,7 @@
#define M5_MMREV 0.8
-#if CORE_MOCK
+#if CORE_MOCK //Use of an emulator
class AccelStepper
{
public:
@@ -21,6 +21,7 @@ public:
#include <AccelStepper.h>
#endif
+
class ISRStepper: public AccelStepper
{
// usefulness: make computeNewSpeed() public to be called outside from interrupt
@@ -35,155 +36,46 @@ class Motor
{
public:
- using MotorHardware_t = ISRStepper;
+ using MotorHardware_t = ISRStepper; //using an instance
//CONSTRUCTORS
- Motor (MotorHardware_t& stepper): stepper(stepper)
- {
- set_speed_mm_per_sec(1);
- set_accel_mm_per_sec_per_sec(0.5); // <----- this is not yet configured by user
- }
-
- void set_mm_per_rev (float mm_per_revolution)
- {
- _mm_per_revolution = mm_per_revolution;
- }
-
- float get_mm_per_rev () const
- {
- return _mm_per_revolution;
- }
-
- void set_physical (int steps_per_revolution, float mm_per_revolution, bool forward_clockwise)
- {
- _steps_per_revolution = steps_per_revolution;
- set_mm_per_rev(mm_per_revolution);
- set_clockwise_equals_forward(forward_clockwise);
- }
-
- void set_clockwise_equals_forward (bool forward_clockwise)
- {
- _clockwise_equals_forward = forward_clockwise;
- }
-
- bool get_clockwise_equals_forward ()
- {
- return _clockwise_equals_forward;
- }
-
- void set_speed_mm_per_sec (float mm_per_sec)
- {
-#if !CORE_MOCK
- stepper.setMaxSpeed(mm_to_step(mm_per_sec));
-#endif
- }
-
- bool motor_is_running () //return true if the motor is currently running
- {
- return (stepper.speed() != 0);
- }
-
- void set_accel_mm_per_sec_per_sec (float acceleration_mm_per_sec_per_sec)
- {
- if (acceleration_mm_per_sec_per_sec == 0)
- acceleration_mm_per_sec_per_sec = 1000;
- _acceleration_mm_per_sec_per_sec = acceleration_mm_per_sec_per_sec;
-#if !CORE_MOCK
- stepper.setAcceleration(mm_to_step(acceleration_mm_per_sec_per_sec));
-#endif
- }
-
- float get_accel_mm_per_sec_per_sec () const
- {
- return _acceleration_mm_per_sec_per_sec;
- }
-
- float mm_to_step (float mm) const
- {
- return mm * _steps_per_revolution / _mm_per_revolution;
- }
-
- float step_to_mm (int step) const
- {
- return step * _mm_per_revolution / _steps_per_revolution;
- }
-
- int where_step ()
- {
-#if CORE_MOCK
- return 0;
-#else
- return stepper.currentPosition() * (_clockwise_equals_forward? 1: -1);
-#endif
- }
-
- void moveToMm (float mm)
- {
- Serial.printf("# moving to %g mm / %g steps\n",
- mm,
- mm_to_step(mm));
- move_to_step(mm_to_step(mm));
- }
-
- void move_to_step (int step)
- {
-#if !CORE_MOCK
- cli();
- set_accel_mm_per_sec_per_sec(_acceleration_mm_per_sec_per_sec);
- if (_mm_per_revolution > 0 && _steps_per_revolution > 0)
- stepper.moveTo(_clockwise_equals_forward? step: -step);
- sei();
-#endif
- Serial.printf("# move to: %d step %g mm\n", step, step_to_mm(step));
- }
-
- void stop ()
- {
-#if !CORE_MOCK
- cli();
- stepper.stop();
- sei();
-#endif
- }
-
- void reset_position()
- {
-#if !CORE_MOCK
- stop();
- cli();
- stepper.setCurrentPosition(0);
- sei();
-#endif
- }
-
- void stay_here ()
- {
-#if !CORE_MOCK
- cli();
- stepper.setAcceleration(1e20);
- stepper.moveTo(stepper.currentPosition()); // change target to here
- set_accel_mm_per_sec_per_sec(_acceleration_mm_per_sec_per_sec);
- sei();
-#endif
- }
-
- void show_configuration ()
- {
- Serial.printf("# %g mm/rev\n"
- "# %d steps/rev\n"
- "# %g steps/mm\n"
- "# max speed: %g steps/s %g mm/s\n"
- "# accel: %g steps/s/s %g mm/s/s\n",
- _mm_per_revolution,
- _steps_per_revolution,
- _steps_per_revolution / _mm_per_revolution,
- stepper.maxSpeed(),
- step_to_mm(stepper.maxSpeed()),
- stepper.acceleration(),
- step_to_mm(stepper.acceleration())
- );
- }
+ Motor (MotorHardware_t& stepper);
+
+ //SETTERS
+ void set_physical (int steps_per_revolution, float mm_per_revolution, bool forward_clockwise);
+
+ void set_steps_per_revolution(float steps_per_revolution);
+ void set_mm_per_revolution (float mm_per_revolution);
+ void set_accel_mm_per_sec_per_sec (float acceleration_mm_per_sec_per_sec);
+ void set_clockwise_equals_forward (bool forward_clockwise);
+
+ void set_speed_mm_per_sec (float mm_per_sec);
+
+ //GETTERS
+ float get_steps_per_revolution();
+ float get_mm_per_revolution () const;
+ bool get_clockwise_equals_forward ();
+ float get_accel_mm_per_sec_per_sec () const;
+
+ //CONVERSIONS
+ float mm_to_step (float mm) const;
+ float step_to_mm (int step) const;
+
+ //MOVEMENTS
+ void move_to_step (int step);
+ void moveToMm (float mm);
+ void stop ();
+ void stay_here ();
+ bool motor_is_running ();
+
+ //POSITION
+ int where_step ();
+ int where_mm ();
+ void reset_position();
+
+ //CONFIGURATION
+ void show_configuration ();
protected:
--
GitLab