stepmotor.hpp

/*
 * Authors: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
 *          Mihai Tudor Panu <mihai.tudor.panu@intel.com>
 * Copyright (c) 2014 Intel Corporation.
 *
 * Credits to Adafruit.
 * Based on Adafruit BMP085 library.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#pragma once

#include <string>
#include <mraa/pwm.hpp>
#include <mraa/common.hpp>
#include <mraa/gpio.hpp>

#define OVERHEAD_US     6
#define MINPULSE_US     5

#define HIGH            1
#define LOW             0

namespace upm {
class StepMotor {
    public:
        StepMotor (int dirPin, int stePin, int steps = 200, int enPin = -1);

         ~StepMotor ();

        void enable (bool flag);

        void setSpeed (int speed);

        mraa::Result step (int ticks);

        mraa::Result stepForward (int ticks);

        mraa::Result stepBackward (int ticks);

        void setPosition (int pos);

        int getPosition ();

        int getStep ();

    private:
        /* Disable implicit copy and assignment operators */
        StepMotor(const StepMotor&) = delete;
        StepMotor &operator=(const StepMotor&) = delete;

        std::string         m_name;

        mraa::Gpio          m_dirPinCtx;
        mraa::Gpio          m_stePinCtx;
        mraa::Gpio          *m_enPinCtx;

        int                 m_delay;
        int                 m_steps;
        int                 m_position;

        mraa::Result dirForward ();
        mraa::Result dirBackward ();
        void move ();
        void delayus (int us);
    };
}