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## Copyright (C) 2018 John Donoghue <john.donoghue@ieee.org>
##
## This program 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.
##
## This program 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.
##
## You should have received a copy of the GNU General Public License
## along with this program. If not, see
## <https://www.gnu.org/licenses/>.
classdef stepper < arduinoio.AddonBase
## -*- texinfo -*-
## @deftypefn {} {} arduinoioaddons.adafruit.stepper
## Stepper class for stepper control on the adafruit motor shield
##
## @seealso{arduinoioaddons.adafruit.motorshieldv2}
## @end deftypefn
##
## @subsubheading Properties
## @table @asis
## @item @var{RPM}
## The rpm value set for the stepper motor
## @item StepType
## the StepType for the stepper (string) which can be "single",
## "double", "interleave" or "microstep"
## @item StepsPerRevolution
## the StepsPerRevoluion for the stepper (read only)
## @item MotorNumber
## the motor number for the stepper (read only) value will be 1 or 2.
## @item Parent
## the parent shield of this stepper (read only)
## @end table
##
## @subheading Methods
## @deftypefn {} {@var{obj} =} stepper(@var{mObj}, @var{mnum}, @var{stepsperrev})
## @deftypefnx {} {@var{obj} =} stepper(@var{mObj}, @var{mnum}, @var{stepsperrev}, @var{propertyname, propertyvalue} ....)
## Constructor to create dcmotor object
## @subsubheading Inputs
## @var{mObj} - the motor shield object
##
## @var{mnum} - The motor number (1 or 2)
##
## @var{stepsperrev} - Number of steps per revolution.
##
## @var{propertyname, propertyvalue} - Optional property
## name/value pairs to pass to motor object.
##
## Current known properties are:
## @table @asis
## @item RPM
## the RPM for the stepper (revolutions per minute)
## @item StepType
## the StepType for the stepper (string) which can be
## "single", "double", "interleave" or "microstep"
## @end table
##
## @subsubheading Outputs
## @var{s} - a stepper object
##
## @subsubheading Example
## @example
## @code {
## a = arduino()
## ms = addon(a, "adafruit/motorshieldv2")
## mtr = stepper(ms, 1, 200)
## }
## @end example
## @end deftypefn
##
## @deftypefn {} {} move(@var{sObj}, @var{steps})
## Move the motor moving in the specified steps using the configured RPM.
##
## @subsubheading Inputs
## @var{sObj} - the stepper object
##
## @subsubheading Outputs
## None
##
## @seealso{adafruit.motorshieldv2}
## @end deftypefn
##
## @deftypefn {} {} release(@var{sObj})
## Release this motor
##
## @subsubheading Inputs
## @var{sObj} - the stepper object
##
## @subsubheading Outputs
## None
##
## @seealso{adafruit.motorshieldv2}
## @end deftypefn
properties(Access = private, Constant = true)
INIT_COMMAND = hex2dec('10');
FREE_COMMAND = hex2dec('11');
MOVE_COMMAND = hex2dec('12');
RELEASE_COMMAND = hex2dec('13');
endproperties
properties(Access = private)
cleanup;
endproperties
properties(GetAccess = public, SetAccess = private)
MotorNumber;
StepsPerRevolution = 0;
endproperties
properties(Access = public)
RPM = 0;
StepType = "single";
endproperties
methods
function this = stepper(shield, mnum, stepsperrev, varargin)
## if nargin < 3
## error ("Expected shield, mnum and stepsperrev")
## endif
##
## if ~isa(shield, "arduinoioaddons.adafruit.motorshieldv2")
## error("Expected shield to be a motorshieldv2 object");
## endif
##
## # check num is a number
## if mnum != 1 && mnum != 2
## error("Expected motor number to be 1 or 2");
## endif
p = inputParser(CaseSensitive=false, FunctionName='adafruit/stepper');
validate_shield = @(x) isa(x, "arduinoioaddons.adafruit.motorshieldv2");
validate_mtrnum = @(x) (isnumeric(x) && isscalar(x) && (x ==1 || x ==2));
validate_steps = @(x) (isnumeric(x) && isscalar(x) && (x > 0));
validate_rpm = @(x) (isnumeric(x) && isscalar(x) && (x > 0));
p.addRequired('shield',validate_shield);
p.addRequired('mnum',validate_mtrnum);
p.addRequired('stepsperrev',validate_steps);
p.addParameter('RPM', 0, validate_rpm);
p.addParameter('StepType', "single", @(x) any(validatestring(x,{"single", "double", "interleave", "microstep"})));
p.parse(shield, mnum, stepsperrev, varargin{:});
this.Parent = p.Results.shield;
this.MotorNumber = p.Results.mnum;
this.StepsPerRevolution = p.Results.stepsperrev;
this.RPM = p.Results.RPM;
this.StepType = p.Results.StepType;
intval = uint16(stepsperrev);
steps = [ bitshift(intval,-8) bitand(intval, 255)];
sendCommand(this.Parent, this.INIT_COMMAND,[this.MotorNumber-1 steps]);
this.cleanup = onCleanup (@() sendCommand(this.Parent, this.FREE_COMMAND, [this.MotorNumber-1 steps]));
endfunction
function move(this, steps)
if steps < 0
direction = 0;
steps = -steps;
else
direction = 1;
endif
intval = uint16(steps);
steps = [ bitshift(intval,-8) bitand(intval, 255)];
intval = uint16(this.RPM);
rpm = [ bitshift(intval,-8) bitand(intval, 255)];
steptype = 0;
switch lower(this.StepType)
case "single"
steptype = 0;
case "double"
steptype = 1;
case "interleave"
steptype = 2;
case "microstep"
steptype = 3;
endswitch
sendCommand(this.Parent,this.MOVE_COMMAND,[this.MotorNumber-1, direction, rpm, steps, steptype]);
endfunction
function release(this)
sendCommand(this.Parent,this.RELEASE_COMMAND,[this.MotorNumber-1]);
endfunction
function set.RPM(this, newrpm)
# check rpm
if !isnumeric(newrpm) || newrpm < 0
error("RPM should be a positive number");
endif
this.RPM = newrpm;
endfunction
function set.StepType(this, val)
validate_val = validatestring (val, {"single", "double", "interleave", "microstep"});
this.StepType = val;
endfunction
function disp(this)
printf(" %s with properties\n", class(this));
printf(" MotorNumber = %d\n", this.MotorNumber);
printf(" RPM = %d\n", this.RPM);
printf(" StepsPerRevolution = %d\n", this.StepsPerRevolution);
printf(" StepType = %s\n", this.StepType);
endfunction
endmethods
endclassdef
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