91 lines
3.3 KiB
C++
91 lines
3.3 KiB
C++
/**********************************************************************
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Copyright (C) 2019 MisfitTech LLC, All rights reserved.
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MisfitTech uses a dual license model that allows the software to be used under
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a standard GPL open source license, or a commercial license. The standard GPL
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license requires that all software statically linked with MisfitTec Code is
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also distributed under the same GPL V2 license terms. Details of both license
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options follow:
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- Open source licensing -
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MisfitTech is a free download and may be used, modified, evaluated and
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distributed without charge provided the user adheres to version two of the GNU
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General Public License (GPL) and does not remove the copyright notice or this
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text. The GPL V2 text is available on the gnu.org web site
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- Commercial licensing -
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Businesses and individuals that for commercial or other reasons cannot comply
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with the terms of the GPL V2 license must obtain a low cost commercial license
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before incorporating MisfitTech code into proprietary software for distribution in
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any form. Commercial licenses can be purchased from www.misfittech.net
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and do not require any source files to be changed.
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This code is distributed in the hope that it will be useful. You cannot
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use MisfitTech's code unless you agree that you use the software 'as is'.
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MisfitTech's code is provided WITHOUT ANY WARRANTY; without even the implied
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warranties of NON-INFRINGEMENT, MERCHANTABILITY or FITNESS FOR A PARTICULAR
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PURPOSE. MisfitTech LLC disclaims all conditions and terms, be they
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implied, expressed, or statutory.
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Written by Trampas Stern for MisfitTech.
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Misfit Tech invests time and resources providing this open source code,
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please support MisfitTech and open-source hardware by purchasing
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products from MisfitTech, www.misifittech.net!
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*********************************************************************/
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#ifndef __A4954__H__
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#define __A4954__H__
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#include <Arduino.h>
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#include "board.h"
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#include "angle.h"
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#include "sine.h"
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#define A4954_NUM_MICROSTEPS (256)
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#define A4954_MIN_TIME_BETWEEN_STEPS_MICROS (1000)
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//prevent someone for making a mistake with the code
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#if ((A4954_NUM_MICROSTEPS*4) != SINE_STEPS)
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#error "SINE_STEPS must be 4x of Micro steps for the move function"
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#endif
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/*
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* When it comes to the stepper driver if we use angles
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* we will always have a rounding error. For example
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* a 0-65536(360) angle for 1.8 degree step is 327.68 so
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* if you increment 200 of these as 327 you have a 13.6 error
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* after one rotation.
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* If you use floating point the effect is the same but takes longer.
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*
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* The only error-less accumulation system is to use native units, ie full
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* steps and microsteps.
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*
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*/
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class A4954
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{
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private:
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uint32_t lastStepMicros; // time in microseconds that last step happened
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bool forwardRotation=true;
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volatile bool enabled=true;
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public:
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void begin(void);
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//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
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int32_t move(int32_t stepAngle, uint32_t mA);
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uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
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void setRotationDirection(bool forward) {forwardRotation=forward;};
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void enable(bool enable);
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void limitCurrent(uint8_t percent); //higher more current
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};
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#endif //__A4954__H__
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