el_stepper_motor.h

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/*

embedded system library for e-puck

--------------------------------------------------------------------------------

code distribution:
https://github.com/jianingchen/epucklib

online documentation:
http://jianingchen.github.io/epucklib/html/

--------------------------------------------------------------------------------

This file is released under the terms of the MIT license (see "el.h").

*/

#ifndef EL_STEPPER_MOTOR_H
#define EL_STEPPER_MOTOR_H

#include "el_common.h"

// stepper motor rate is in range [-max,-min] and [min,max]
#define EL_STEPPER_MOTOR_RATE_MAX   1000
#define EL_STEPPER_MOTOR_RATE_MIN   50

#define EL_STEPPER_MOTOR_LEFT               0
#define EL_STEPPER_MOTOR_RIGHT              1

#define EL_EPUCK_FULL_REVOLUTION_STEPS      2512

typedef struct {
    el_bool UseAcceleration;
    el_uint16 AccelerationRate;
} el_stepper_motor_param;

/*
--------------------------------------------------------------------------------
*/

void el_enable_stepper_motor(void);


void el_disable_stepper_motor(void);


el_stepper_motor_param*el_stepper_motor_options();


void el_stepper_motor_options_apply();


void el_stepper_motor_options_reset();


void el_config_stepper_motor(const el_stepper_motor_param*p);


void el_stepper_motor_set_speed(el_index i,int u);


el_int16 el_stepper_motor_get_steps(el_index i);


void el_stepper_motor_set_steps(el_index i,el_int16 n);


void el_set_wheel_speed(int left,int right);


//==============================================================================


#ifdef EL_INCLUDE_LIB_INTERNAL_CONTEXT

#include "el_clock.h"

#define EL_STPM_NUMBER              2
#define EL_STPM_DIR_STOP            0
#define EL_STPM_DIR_FORWARD         1
#define EL_STPM_DIR_REVERSE         2
#define EL_STPM_INTERRUPT_FREQ      EL_T3_FREQ
#define EL_STPM_SPEED_CONTROL_FREQ  50

typedef struct{
    el_int8 direction;
    el_int8 phase;
    el_mcd period;
    el_mcd timer;
    el_int16 counter;
    el_int16 true_speed;
    el_int16 ref_speed;
} el_stpm;

extern el_bool el_stpm_enabled;
extern el_bool el_stpm_accel_enabled;

void el_init_stepper_motor();
void el_routine_stepper_motor_14400hz();
void el_routine_stepper_motor_accel_2400hz();

#endif


#endif