void StepperModel::resetStepper()
{
enableStepper(false);
currentStepcount=0;
targetStepcount=0;
delta=0;
}
/***********************************************************
* Digital I/O f?r Motorensteuerung werden als Output
* definiert.
* @param Pointer auf Motor
* @return void
***********************************************************/
void initStepper(stepper_t *aStepper)
{
pinMode(aStepper->statusPin, OUTPUT);
pinMode(aStepper->modePin, OUTPUT);
pinMode(aStepper->directionPin, OUTPUT);
pinMode(aStepper->clockPin, OUTPUT);
digitalWrite(aStepper->clockPin, HIGH);
switch (aStepper->stepperStatus){
case DISABLED:
disableStepper(aStepper);
break;
case ENABLED:
enableStepper(aStepper);
break;
case RUN:
enableStepper(aStepper);
break;
}
switch (aStepper->stepperMode){
case FULL:
fullStep(aStepper);
break;
case HALF:
halfStep(aStepper);
break;
}
switch (aStepper->direction){
case FORWARD:
forward(aStepper);
break;
case BACKWARD:
backward(aStepper);
break;
}
}
void StepperModel::resetSteppersForObjectDiameter(double diameter)
{
// Calculate the motor steps required to move per mm.
steps_per_mm = (int)((kStepsPerRevolution/(diameter*M_PI))*kMicroStepping+0.5);
if(endStopPin>=0)
{
#ifdef AUTO_HOMING
autoHoming();
#endif
enableStepper(false);
}
else
resetStepper();
}
void StepperModel::autoHoming()
{
enableStepper(true);
digitalWrite(dirPin, LOW);
while(digitalRead(endStopPin))
{
digitalWrite(stepPin, HIGH);
digitalWrite(stepPin, LOW);
delay(1);
}
currentStepcount= minStepCount-16;
}
void StepperModel::setTargetPosition(double pos)
{
targetPosition = pos;
targetStepcount = getStepsForMM(targetPosition);
//Serial.println(targetStepcount);
delta = targetStepcount-currentStepcount;
direction = true;
if (delta != 0) {
enableStepper(true);
}
if (delta < 0) {
delta = -delta;
direction = false;
}
}
/*
* inEnablePin < 0 => No Endstop
*/
StepperModel::StepperModel(
int inDirPin, int inStepPin, int inEnablePin, int inEndStopPin,
int inMs1Pin, int inMs2Pin, int inMs3Pin,
int inSleepPin, int inResetPin,
bool vms1, bool vms2, bool vms3,
long minSC, long maxSC,
double in_kStepsPerRevolution, int in_kMicroStepping)
{
kStepsPerRevolution=in_kStepsPerRevolution;
kMicroStepping=in_kMicroStepping;
dirPin = inDirPin;
stepPin = inStepPin;
enablePin = inEnablePin;
endStopPin = inEndStopPin;
sleepPin = inSleepPin;
resetPin = inResetPin;
ms1Pin = inMs1Pin;
ms2Pin = inMs2Pin;
ms3Pin = inMs3Pin;
minStepCount=minSC;
maxStepCount=maxSC;
pinMode(dirPin, OUTPUT);
pinMode(stepPin, OUTPUT);
pinMode(enablePin, OUTPUT);
if((sleepPin >=0))
{
pinMode(sleepPin, OUTPUT);
digitalWrite(sleepPin, HIGH);
}
if((resetPin >=0))
{
pinMode(resetPin, OUTPUT);
digitalWrite(resetPin, HIGH);
}
if(endStopPin>=0)
pinMode(endStopPin, INPUT);
if((ms1Pin >=0))
{
pinMode(ms1Pin, OUTPUT);
digitalWrite(ms1Pin, vms1);
}
if((ms2Pin >=0))
{
pinMode(ms2Pin, OUTPUT);
digitalWrite(ms2Pin, vms1);
}
if((ms3Pin >=0))
{
pinMode(ms3Pin, OUTPUT);
digitalWrite(ms3Pin, vms1);
}
digitalWrite(dirPin, LOW);
digitalWrite(stepPin, LOW);
currentStepcount=0;
targetStepcount=0;
steps_per_mm = (int)((kStepsPerRevolution/(45.*M_PI))*kMicroStepping+0.5); // default value for a "normal" egg (45 mm diameter)
enableStepper(false);
}
