public StepperMotor(PcaPwmDriver pcaPwmDriver, uint steps = 200)
{
Check.IsNull(pcaPwmDriver);
this.pcaPwmDriver = pcaPwmDriver;
Steps = steps * MicroStepCount;
SetSpeed(Rpm);
fullStepControlPhases = ControlPhaseHelper.GetFullStepSequence();
// 마이크로 스테핑 제어 단계 및 선형 램프
microStepControlPhases = ControlPhaseHelper.GetMicroStepSequence();
microStepCurve = MicrosteppingHelper.GetLinearRamp(MicroStepCount);
}
private StepperMotorPhase GetMicroStepControlPhase()
{
// mu_i
var microStepIndex = (int)(CurrentStep % MicroStepCount);
// nu_i
var microStepPhaseIndex = (int)(CurrentStep % (MicroStepCount * fullStepControlPhases.Count));
// 풀 스텝 제어 단계 인덱스
var mainPhaseIndex = MicrosteppingHelper.GetPhaseIndex(microStepPhaseIndex, MicroStepCount);
// AIn1, AIn2, BIn1, BIn2 신호의 제어 단계
var phase = microStepControlPhases[mainPhaseIndex];
// PwmA, PwmB 신호
MicrosteppingHelper.AdjustMicroStepPhase(phase, microStepCurve, MicroStepCount, microStepIndex, microStepPhaseIndex);
return(phase);
}
