/// <summary>
/// Initializes a new instance of the <see cref="StepperMotor" /> class.
/// </summary>
/// <param name="limitOfTravel">The limit of travel in steps.</param>
/// <param name="stepper">The hardware driver that will perform the actual microstep.</param>
/// <param name="performMicrostep">A method to write the current microstep value to the motor hardware.</param>
/// <param name="microSteps">The number of micro steps per whole step.</param>
protected StepperMotor(int limitOfTravel, IStepSequencer stepper, StepCallback performMicrostep = null)
{
//ToDo: this can be improved by deprecating the use of a delegate and instead providing
// an implementation of IStepSequencer (defined in the Adafruit motor shield assembly).
this.limitOfTravel = limitOfTravel;
this.stepper = stepper;
performStepCallback = performMicrostep ?? NullStepCallback;
stepTimer = new Timer(StepTimerTick, null, Timeout.Infinite, Timeout.Infinite); // Stopped
}
public AcceleratingStepperMotor(int limitOfTravel, IStepSequencer stepper) : base(limitOfTravel, stepper)
{
RampTime = 5.0; // Default to 5 second ramp, compute acceleration.
}
public static void Main()
{
// shield-specific setup. Uncomment one of the shield #define lines above.
#if UseOnboardLedForDiagnostics
Led = new OutputPort(Pins.ONBOARD_LED, false);
#endif
#if AdafruitV1Shield
var latch = new OutputPort(Pins.GPIO_PIN_D12, false);
var enable = new OutputPort(Pins.GPIO_PIN_D7, true);
var data = new OutputPort(Pins.GPIO_PIN_D8, false);
var clock = new OutputPort(Pins.GPIO_PIN_D4, false);
var adafruitMotorShieldV1 = new AdafruitV1MotorShield(latch, enable, data, clock);
adafruitMotorShieldV1.InitializeShield();
StepperM1M2 = adafruitMotorShieldV1.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
//StepperM3M4 = adafruitMotorShieldV1.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
#elif AdafruitV2Shield
var adafruitMotorShieldV2 = new SparkfunArdumoto(); // use shield at default I2C address.
adafruitMotorShieldV2.InitializeShield();
StepperM1M2 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
#elif SparkfunArduMotoShield
var shield = new SparkfunArdumoto();
shield.InitializeShield();
var phase1 = shield.GetHBridge(Connector.A, TargetDevice.Netduino);
var phase2 = shield.GetHBridge(Connector.B, TargetDevice.Netduino);
StepperM1M2 = shield.GetMicrosteppingStepperMotor(MicrostepsPerStep, phase1, phase2);
#elif LedSimulatorShield
var StepperM1M2 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D0,
PWMChannels.PWM_ONBOARD_LED,
Pins.GPIO_PIN_D1,
PWMChannels.PWM_PIN_D6);
var StepperM3M4 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D2,
PWMChannels.PWM_PIN_D9,
Pins.GPIO_PIN_D3,
PWMChannels.PWM_PIN_D10);
#else
throw new ApplicationException("Uncomment one of the shield #define statements");
#endif
// Create the stepper motor axes and link them to the Adafruit driver.
var axis1 = new AcceleratingStepperMotor(LimitOfTravel, StepperM1M2)
{
MaximumSpeed = MaxSpeed,
RampTime = RampTime
};
// Now we subscribe to the MotorStopped event on each axis. When the event fires,
// we start the axis going again with a new random target position.
axis1.MotorStopped += HandleAxisStoppedEvent;
// We need to call our event handler once manually to get things going.
// After that it is fully automatic.
HandleAxisStoppedEvent(axis1);
// Repeat for the second axis, if it's supported.
#if UseSecondAxis
//var axis2 = new StepperMotor(LimitOfTravel, StepperM3M4)
// {
// MaximumSpeed = MaxSpeed,
// RampTime = RampTime
// };
//axis2.MotorStopped += HandleAxisStoppedEvent;
//HandleAxisStoppedEvent(axis2);
#endif
// Finally, we sleep forever as there is nothing else to do in the main thread.
// The motors continue to work in the background all by themselves.
Thread.Sleep(Timeout.Infinite);
}
public InstantaneousStepperMotor(int limitOfTravel, IStepSequencer stepper) : base(limitOfTravel, stepper)
{
}
public static void Main()
{
// shield-specific setup. Uncomment one of the shield #define lines above.
#if UseOnboardLedForDiagnostics
Led = new OutputPort(Pins.ONBOARD_LED, false);
#endif
#if AdafruitV1Shield
var adafruitMotorShieldV1 = new AdafruitV1MotorShield();
adafruitMotorShieldV1.InitializeShield();
StepperM1M2 = adafruitMotorShieldV1.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV1.GetFullSteppingStepperMotor(3, 4);
#elif AdafruitV2Shield
var adafruitMotorShieldV2 = new SparkfunArdumoto(); // use shield at default I2C address.
adafruitMotorShieldV2.InitializeShield();
StepperM1M2 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
#elif SparkfunArduMotoShield
var shield = new SparkfunArdumoto();
shield.InitializeShield();
var phase1 = shield.GetHBridge(Connector.A, TargetDevice.Netduino);
var phase2 = shield.GetHBridge(Connector.B, TargetDevice.Netduino);
StepperM1M2 = shield.GetMicrosteppingStepperMotor(MicrostepsPerStep, phase1, phase2);
#elif LedSimulatorShield
var StepperM1M2 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D0,
PWMChannels.PWM_ONBOARD_LED,
Pins.GPIO_PIN_D1,
PWMChannels.PWM_PIN_D6);
#else
throw new ApplicationException("Uncomment one of the shield #define statements");
#endif
// Create the stepper motor axes and link them to the shield driver.
axis1 = new InstantaneousStepperMotor(LimitOfTravel, StepperM1M2)
{
MaximumSpeed = MaxSpeed
//RampTime = RampTime
};
axis1.BeforeStep += UpdateDiagnosticLed;
speed = 1.0;
direction = +1;
var fasterButton = new InterruptPort(Pins.GPIO_PIN_D1,
true,
Port.ResistorMode.PullUp,
Port.InterruptMode.InterruptEdgeLow);
var slowerButton = new InterruptPort(Pins.GPIO_PIN_D2,
true,
Port.ResistorMode.PullUp,
Port.InterruptMode.InterruptEdgeLow);
var reverseButton = new InterruptPort(Pins.GPIO_PIN_D13,
true,
Port.ResistorMode.PullUp,
Port.InterruptMode.InterruptEdgeLow);
fasterButton.OnInterrupt += fasterButton_OnInterrupt;
slowerButton.OnInterrupt += slowerButton_OnInterrupt;
reverseButton.OnInterrupt += reverseButton_OnInterrupt;
SetMotorVelocity();
Thread.Sleep(Timeout.Infinite);
}
