Merge branch 'release/1.1.0'

examples/AccelTest/AccelTest.ino

@@ -0,0 +1,54 @@
+/*
+ * Demo / test acceleration parameters
+ *
+ * Copyright (C)2015-2017 Laurentiu Badea
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#include <Arduino.h>
+#include "BasicStepperDriver.h"
+
+// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
+#define MOTOR_STEPS 200
+
+// Since microstepping is set externally, make sure this matches the selected mode
+// 1=full step, 2=half step etc.
+#define MICROSTEPS 16
+
+#define DIR 5
+#define STEP 9
+
+// 2-wire basic config, microstepping is hardwired on the driver
+BasicStepperDriver stepper(MOTOR_STEPS, DIR, STEP, 10);
+
+void setup() {
+    Serial.begin(115200);
+
+    stepper.begin(120, MICROSTEPS);
+
+    /*
+     * LINEAR_SPEED profile needs the acceleration and deceleration values
+     * in full steps / s^2.
+     */
+    stepper.setSpeedProfile(LINEAR_SPEED, 1000, 1000);
+
+    Serial.println("START");
+    stepper.startRotate(360);
+}
+
+void loop() {
+    static int step = 0;
+    unsigned wait_time = stepper.nextAction();
+    if (wait_time){
+        Serial.print("  step="); Serial.print(step++/2);
+        Serial.print("  dt="); Serial.print(wait_time);
+        Serial.print("  rpm="); Serial.print(stepper.getCurrentRPM());
+        Serial.println();
+        microWaitUntil(micros() + wait_time);
+    } else {
+        stepper.disable();
+        Serial.println("END");
+        delay(3600000);
+    }
+}

examples/BasicStepperDriver/BasicStepperDriver.ino

@@ -35,21 +35,18 @@ void setup() {
      * Set target motor RPM.
      * These motors can do up to about 200rpm.
      * Too high will result in a high pitched whine and the motor does not move.
+     *
+     * Also tell the driver the microstep level we selected.
+     * If mismatched, the motor will move at a different RPM than chosen.
      */
-    stepper.setRPM(120);
+    stepper.begin(120, MICROSTEPS);
 }
 
 void loop() {
 
     // energize coils - the motor will hold position
     // stepper.enable();
 
-    /*
-     * Tell the driver the microstep level we selected.
-     * If mismatched, the motor will move at a different RPM than chosen.
-     */
-    stepper.setMicrostep(MICROSTEPS);
-
     /*
      * Moving motor one full revolution using the degree notation
      */

examples/ClockStepper/ClockStepper.ino

@@ -43,10 +43,9 @@ DRV8834 stepper(MOTOR_STEPS, DIR, STEP, M0, M1);
 
 void setup() {
     /*
-     * Set target motor RPM.
+     * Set target motor RPM=1 and microstepping=1
      */
-    stepper.setRPM(1);
-    stepper.setMicrostep(1); // make sure we are in full speed mode
+    stepper.begin(1, 1);
 }
 
 void loop() {

examples/MicroStepping/MicroStepping.ino

@@ -49,7 +49,7 @@ void setup() {
      * These motors can do up to about 200rpm.
      * Too high will result in a high pitched whine and the motor does not move.
      */
-    stepper.setRPM(120);
+    stepper.begin(120);
 }
 
 void loop() {

examples/MultiAxis/MultiAxis.ino

@@ -0,0 +1,53 @@
+/*
+ * Multi-motor control
+ *
+ * Move two or three motors at the same time.
+ *
+ * Copyright (C)2017 Laurentiu Badea
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#include <Arduino.h>
+#include "BasicStepperDriver.h"
+#include "SyncDriver.h"
+
+// Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step
+#define MOTOR_STEPS 200
+
+// X motor
+#define DIR_X 5
+#define STEP_X 9
+
+// Y motor
+#define DIR_Y 8
+#define STEP_Y 6
+
+// If microstepping is set externally, make sure this matches the selected mode
+// 1=full step, 2=half step etc.
+#define MICROSTEPS 32
+
+// 2-wire basic config, microstepping is hardwired on the driver
+// Other drivers can be mixed and matched but must be configured individually
+BasicStepperDriver stepperX(MOTOR_STEPS, DIR_X, STEP_X);
+BasicStepperDriver stepperY(MOTOR_STEPS, DIR_Y, STEP_Y);
+
+SyncDriver controller(stepperX, stepperY);
+
+void setup() {
+    /*
+     * Set target motors RPM.
+     */
+    stepperX.begin(30, MICROSTEPS);
+    stepperY.begin(90, MICROSTEPS);
+}
+
+void loop() {
+
+    controller.rotate(90*5, 60*15);
+    delay(1000);
+    controller.rotate(-90*5, -30*15);
+    delay(1000);
+    controller.rotate(0, -30*15);
+    delay(30000);
+}

keywords.txt

@@ -5,8 +5,20 @@ DRV8834 KEYWORD1
 DRV8824 KEYWORD1
 DRV8825 KEYWORD1
 A4988 KEYWORD1
+MultiDriver KEYWORD1
+SyncDriver KEYWORD1
 
 setMicrostep KEYWORD2
+setSpeedProfile KEYWORD2
 move KEYWORD2
 rotate KEYWORD2
 setRPM KEYWORD2
+getRPM KEYWORD2
+enable KEYWORD2
+disable KEYWORD2
+startMove KEYWORD2
+startRotate KEYWORD2
+nextAction KEYWORD2
+
+CONSTANT_SPEED LITERAL1
+LINEAR_SPEED LITERAL1

library.properties

@@ -1,9 +1,9 @@
 name=StepperDriver
-version=1.0.6
+version=1.1.0
 author=Laurentiu Badea
 maintainer=Laurentiu Badea
 sentence=A4988, DRV8825 and generic two-pin stepper motor driver library.
-paragraph=Control steppers via a driver board providing STEP+DIR. Microstepping is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834.
+paragraph=Control steppers via a driver board providing STEP+DIR. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834.
 category=Device Control
 url=https://github.com/laurb9/StepperDriver
 architectures=*

src/A4988.cpp

@@ -19,30 +19,30 @@ const uint8_t A4988::MS_TABLE[] = {0b000, 0b001, 0b010, 0b011, 0b111};
  * Basic connection: only DIR, STEP are connected.
  * Microstepping controls should be hardwired.
  */
-A4988::A4988(int steps, int dir_pin, int step_pin)
+A4988::A4988(short steps, short dir_pin, short step_pin)
 :BasicStepperDriver(steps, dir_pin, step_pin)
 {}
 
-A4988::A4988(int steps, int dir_pin, int step_pin, int enable_pin)
+A4988::A4988(short steps, short dir_pin, short step_pin, short enable_pin)
 :BasicStepperDriver(steps, dir_pin, step_pin, enable_pin)
 {}
 
 /*
  * Fully wired.
  * All the necessary control pins for A4988 are connected.
  */
-A4988::A4988(int steps, int dir_pin, int step_pin, int ms1_pin, int ms2_pin, int ms3_pin)
+A4988::A4988(short steps, short dir_pin, short step_pin, short ms1_pin, short ms2_pin, short ms3_pin)
 :BasicStepperDriver(steps, dir_pin, step_pin),
     ms1_pin(ms1_pin), ms2_pin(ms2_pin), ms3_pin(ms3_pin)
 {}
 
-A4988::A4988(int steps, int dir_pin, int step_pin, int enable_pin, int ms1_pin, int ms2_pin, int ms3_pin)
+A4988::A4988(short steps, short dir_pin, short step_pin, short enable_pin, short ms1_pin, short ms2_pin, short ms3_pin)
 :BasicStepperDriver(steps, dir_pin, step_pin, enable_pin),
 ms1_pin(ms1_pin), ms2_pin(ms2_pin), ms3_pin(ms3_pin)
 {}
 
-void A4988::init(void){
-    BasicStepperDriver::init();
+void A4988::begin(short rpm, short microsteps){
+    BasicStepperDriver::begin(rpm, microsteps);
 
     if (!IS_CONNECTED(ms1_pin) || !IS_CONNECTED(ms2_pin) || !IS_CONNECTED(ms3_pin)){
         return;
@@ -58,17 +58,17 @@ void A4988::init(void){
  * Allowed ranges for A4988 are 1:1 to 1:16
  * If the control pins are not connected, we recalculate the timing only
  */
-unsigned A4988::setMicrostep(unsigned microsteps){
+short A4988::setMicrostep(short microsteps){
     BasicStepperDriver::setMicrostep(microsteps);
 
     if (!IS_CONNECTED(ms1_pin) || !IS_CONNECTED(ms2_pin) || !IS_CONNECTED(ms3_pin)){
         return this->microsteps;
     }
 
-    const uint8_t* ms_table = this->getMicrostepTable();
-    size_t ms_table_size = this->getMicrostepTableSize();
+    const uint8_t* ms_table = getMicrostepTable();
+    size_t ms_table_size = getMicrostepTableSize();
 
-    int i = 0;
+    unsigned short i = 0;
     while (i < ms_table_size){
         if (this->microsteps & (1<<i)){
             uint8_t mask = ms_table[i];
@@ -90,6 +90,6 @@ size_t A4988::getMicrostepTableSize(){
     return sizeof(A4988::MS_TABLE);
 }
 
-unsigned A4988::getMaxMicrostep(){
+short A4988::getMaxMicrostep(){
     return A4988::MAX_MICROSTEP;
 }

src/A4988.h

@@ -15,10 +15,9 @@
 class A4988 : public BasicStepperDriver {
 protected:
     static const uint8_t MS_TABLE[];
-    int ms1_pin = PIN_UNCONNECTED;
-    int ms2_pin = PIN_UNCONNECTED;
-    int ms3_pin = PIN_UNCONNECTED;
-    void init(void);
+    short ms1_pin = PIN_UNCONNECTED;
+    short ms2_pin = PIN_UNCONNECTED;
+    short ms3_pin = PIN_UNCONNECTED;
     // tA STEP minimum, HIGH pulse width (1us)
     static const int step_high_min = 1;
     // tB STEP minimum, LOW pulse width (1us)
@@ -32,25 +31,26 @@ class A4988 : public BasicStepperDriver {
     virtual size_t getMicrostepTableSize();
 
     // Get max microsteps supported by the device
-    unsigned getMaxMicrostep() override;
+    short getMaxMicrostep() override;
 
 private:
     // microstep range (1, 16, 32 etc)
-    static const unsigned MAX_MICROSTEP = 16;
+    static const short MAX_MICROSTEP = 16;
 
 public:
     /*
      * Basic connection: only DIR, STEP are connected.
      * Microstepping controls should be hardwired.
      */
-    A4988(int steps, int dir_pin, int step_pin);
-    A4988(int steps, int dir_pin, int step_pin, int enable_pin);
+    A4988(short steps, short dir_pin, short step_pin);
+    A4988(short steps, short dir_pin, short step_pin, short enable_pin);
 
+    void begin(short rpm=60, short microsteps=1);
     /*
      * Fully wired. All the necessary control pins for A4988 are connected.
      */
-    A4988(int steps, int dir_pin, int step_pin, int ms1_pin, int ms2_pin, int ms3_pin);
-    A4988(int steps, int dir_pin, int step_pin, int enable_pin, int ms1_pin, int ms2_pin, int ms3_pin);
-    unsigned setMicrostep(unsigned microsteps);
+    A4988(short steps, short dir_pin, short step_pin, short ms1_pin, short ms2_pin, short ms3_pin);
+    A4988(short steps, short dir_pin, short step_pin, short enable_pin, short ms1_pin, short ms2_pin, short ms3_pin);
+    short setMicrostep(short microsteps) override;
 };
 #endif // A4988_H