/********************************************************************* * * $Id: yocto_steppermotor.h 59978 2024-03-18 15:04:46Z mvuilleu $ * * Declares yFindStepperMotor(), the high-level API for StepperMotor functions * * - - - - - - - - - License information: - - - - - - - - - * * Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland. * * Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual * non-exclusive license to use, modify, copy and integrate this * file into your software for the sole purpose of interfacing * with Yoctopuce products. * * You may reproduce and distribute copies of this file in * source or object form, as long as the sole purpose of this * code is to interface with Yoctopuce products. You must retain * this notice in the distributed source file. * * You should refer to Yoctopuce General Terms and Conditions * for additional information regarding your rights and * obligations. * * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING * WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO * EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL, * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, * COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR * SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT * LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR * CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE * BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF * WARRANTY, OR OTHERWISE. * *********************************************************************/ #ifndef YOCTO_STEPPERMOTOR_H #define YOCTO_STEPPERMOTOR_H #include #include #include "yocto_api.h" #ifdef YOCTOLIB_NAMESPACE namespace YOCTOLIB_NAMESPACE { #endif //--- (YStepperMotor return codes) //--- (end of YStepperMotor return codes) //--- (YStepperMotor yapiwrapper) //--- (end of YStepperMotor yapiwrapper) //--- (YStepperMotor definitions) class YStepperMotor; // forward declaration typedef void (*YStepperMotorValueCallback)(YStepperMotor *func, const string& functionValue); #ifndef _Y_MOTORSTATE_ENUM #define _Y_MOTORSTATE_ENUM typedef enum { Y_MOTORSTATE_ABSENT = 0, Y_MOTORSTATE_ALERT = 1, Y_MOTORSTATE_HI_Z = 2, Y_MOTORSTATE_STOP = 3, Y_MOTORSTATE_RUN = 4, Y_MOTORSTATE_BATCH = 5, Y_MOTORSTATE_INVALID = -1, } Y_MOTORSTATE_enum; #endif #ifndef _Y_STEPPING_ENUM #define _Y_STEPPING_ENUM typedef enum { Y_STEPPING_MICROSTEP16 = 0, Y_STEPPING_MICROSTEP8 = 1, Y_STEPPING_MICROSTEP4 = 2, Y_STEPPING_HALFSTEP = 3, Y_STEPPING_FULLSTEP = 4, Y_STEPPING_INVALID = -1, } Y_STEPPING_enum; #endif #define Y_DIAGS_INVALID (YAPI_INVALID_UINT) #define Y_STEPPOS_INVALID (YAPI_INVALID_DOUBLE) #define Y_SPEED_INVALID (YAPI_INVALID_DOUBLE) #define Y_PULLINSPEED_INVALID (YAPI_INVALID_DOUBLE) #define Y_MAXACCEL_INVALID (YAPI_INVALID_DOUBLE) #define Y_MAXSPEED_INVALID (YAPI_INVALID_DOUBLE) #define Y_OVERCURRENT_INVALID (YAPI_INVALID_UINT) #define Y_TCURRSTOP_INVALID (YAPI_INVALID_UINT) #define Y_TCURRRUN_INVALID (YAPI_INVALID_UINT) #define Y_ALERTMODE_INVALID (YAPI_INVALID_STRING) #define Y_AUXMODE_INVALID (YAPI_INVALID_STRING) #define Y_AUXSIGNAL_INVALID (YAPI_INVALID_INT) #define Y_COMMAND_INVALID (YAPI_INVALID_STRING) //--- (end of YStepperMotor definitions) //--- (YStepperMotor declaration) /** * YStepperMotor Class: stepper motor control interface * * The YStepperMotor class allows you to drive a stepper motor. */ class YOCTO_CLASS_EXPORT YStepperMotor: public YFunction { #ifdef __BORLANDC__ #pragma option push -w-8022 #endif //--- (end of YStepperMotor declaration) protected: //--- (YStepperMotor attributes) // Attributes (function value cache) Y_MOTORSTATE_enum _motorState; int _diags; double _stepPos; double _speed; double _pullinSpeed; double _maxAccel; double _maxSpeed; Y_STEPPING_enum _stepping; int _overcurrent; int _tCurrStop; int _tCurrRun; string _alertMode; string _auxMode; int _auxSignal; string _command; YStepperMotorValueCallback _valueCallbackStepperMotor; friend YStepperMotor *yFindStepperMotor(const string& func); friend YStepperMotor *yFirstStepperMotor(void); // Function-specific method for parsing of JSON output and caching result virtual int _parseAttr(YJSONObject *json_val); // Constructor is protected, use yFindStepperMotor factory function to instantiate YStepperMotor(const string& func); //--- (end of YStepperMotor attributes) public: virtual ~YStepperMotor(); //--- (YStepperMotor accessors declaration) static const Y_MOTORSTATE_enum MOTORSTATE_ABSENT = Y_MOTORSTATE_ABSENT; static const Y_MOTORSTATE_enum MOTORSTATE_ALERT = Y_MOTORSTATE_ALERT; static const Y_MOTORSTATE_enum MOTORSTATE_HI_Z = Y_MOTORSTATE_HI_Z; static const Y_MOTORSTATE_enum MOTORSTATE_STOP = Y_MOTORSTATE_STOP; static const Y_MOTORSTATE_enum MOTORSTATE_RUN = Y_MOTORSTATE_RUN; static const Y_MOTORSTATE_enum MOTORSTATE_BATCH = Y_MOTORSTATE_BATCH; static const Y_MOTORSTATE_enum MOTORSTATE_INVALID = Y_MOTORSTATE_INVALID; static const int DIAGS_INVALID = YAPI_INVALID_UINT; static const double STEPPOS_INVALID; static const double SPEED_INVALID; static const double PULLINSPEED_INVALID; static const double MAXACCEL_INVALID; static const double MAXSPEED_INVALID; static const Y_STEPPING_enum STEPPING_MICROSTEP16 = Y_STEPPING_MICROSTEP16; static const Y_STEPPING_enum STEPPING_MICROSTEP8 = Y_STEPPING_MICROSTEP8; static const Y_STEPPING_enum STEPPING_MICROSTEP4 = Y_STEPPING_MICROSTEP4; static const Y_STEPPING_enum STEPPING_HALFSTEP = Y_STEPPING_HALFSTEP; static const Y_STEPPING_enum STEPPING_FULLSTEP = Y_STEPPING_FULLSTEP; static const Y_STEPPING_enum STEPPING_INVALID = Y_STEPPING_INVALID; static const int OVERCURRENT_INVALID = YAPI_INVALID_UINT; static const int TCURRSTOP_INVALID = YAPI_INVALID_UINT; static const int TCURRRUN_INVALID = YAPI_INVALID_UINT; static const string ALERTMODE_INVALID; static const string AUXMODE_INVALID; static const int AUXSIGNAL_INVALID = YAPI_INVALID_INT; static const string COMMAND_INVALID; /** * Returns the motor working state. * * @return a value among YStepperMotor::MOTORSTATE_ABSENT, YStepperMotor::MOTORSTATE_ALERT, * YStepperMotor::MOTORSTATE_HI_Z, YStepperMotor::MOTORSTATE_STOP, YStepperMotor::MOTORSTATE_RUN and * YStepperMotor::MOTORSTATE_BATCH corresponding to the motor working state * * On failure, throws an exception or returns YStepperMotor::MOTORSTATE_INVALID. */ Y_MOTORSTATE_enum get_motorState(void); inline Y_MOTORSTATE_enum motorState(void) { return this->get_motorState(); } /** * Returns the stepper motor controller diagnostics, as a bitmap. * * @return an integer corresponding to the stepper motor controller diagnostics, as a bitmap * * On failure, throws an exception or returns YStepperMotor::DIAGS_INVALID. */ int get_diags(void); inline int diags(void) { return this->get_diags(); } /** * Changes the current logical motor position, measured in steps. * This command does not cause any motor move, as its purpose is only to setup * the origin of the position counter. The fractional part of the position, * that corresponds to the physical position of the rotor, is not changed. * To trigger a motor move, use methods moveTo() or moveRel() * instead. * * @param newval : a floating point number corresponding to the current logical motor position, measured in steps * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_stepPos(double newval); inline int setStepPos(double newval) { return this->set_stepPos(newval); } /** * Returns the current logical motor position, measured in steps. * The value may include a fractional part when micro-stepping is in use. * * @return a floating point number corresponding to the current logical motor position, measured in steps * * On failure, throws an exception or returns YStepperMotor::STEPPOS_INVALID. */ double get_stepPos(void); inline double stepPos(void) { return this->get_stepPos(); } /** * Returns current motor speed, measured in steps per second. * To change speed, use method changeSpeed(). * * @return a floating point number corresponding to current motor speed, measured in steps per second * * On failure, throws an exception or returns YStepperMotor::SPEED_INVALID. */ double get_speed(void); inline double speed(void) { return this->get_speed(); } /** * Changes the motor speed immediately reachable from stop state, measured in steps per second. * * @param newval : a floating point number corresponding to the motor speed immediately reachable from * stop state, measured in steps per second * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_pullinSpeed(double newval); inline int setPullinSpeed(double newval) { return this->set_pullinSpeed(newval); } /** * Returns the motor speed immediately reachable from stop state, measured in steps per second. * * @return a floating point number corresponding to the motor speed immediately reachable from stop * state, measured in steps per second * * On failure, throws an exception or returns YStepperMotor::PULLINSPEED_INVALID. */ double get_pullinSpeed(void); inline double pullinSpeed(void) { return this->get_pullinSpeed(); } /** * Changes the maximal motor acceleration, measured in steps per second^2. * * @param newval : a floating point number corresponding to the maximal motor acceleration, measured * in steps per second^2 * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_maxAccel(double newval); inline int setMaxAccel(double newval) { return this->set_maxAccel(newval); } /** * Returns the maximal motor acceleration, measured in steps per second^2. * * @return a floating point number corresponding to the maximal motor acceleration, measured in steps per second^2 * * On failure, throws an exception or returns YStepperMotor::MAXACCEL_INVALID. */ double get_maxAccel(void); inline double maxAccel(void) { return this->get_maxAccel(); } /** * Changes the maximal motor speed, measured in steps per second. * * @param newval : a floating point number corresponding to the maximal motor speed, measured in steps per second * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_maxSpeed(double newval); inline int setMaxSpeed(double newval) { return this->set_maxSpeed(newval); } /** * Returns the maximal motor speed, measured in steps per second. * * @return a floating point number corresponding to the maximal motor speed, measured in steps per second * * On failure, throws an exception or returns YStepperMotor::MAXSPEED_INVALID. */ double get_maxSpeed(void); inline double maxSpeed(void) { return this->get_maxSpeed(); } /** * Returns the stepping mode used to drive the motor. * * @return a value among YStepperMotor::STEPPING_MICROSTEP16, YStepperMotor::STEPPING_MICROSTEP8, * YStepperMotor::STEPPING_MICROSTEP4, YStepperMotor::STEPPING_HALFSTEP and * YStepperMotor::STEPPING_FULLSTEP corresponding to the stepping mode used to drive the motor * * On failure, throws an exception or returns YStepperMotor::STEPPING_INVALID. */ Y_STEPPING_enum get_stepping(void); inline Y_STEPPING_enum stepping(void) { return this->get_stepping(); } /** * Changes the stepping mode used to drive the motor. * * @param newval : a value among YStepperMotor::STEPPING_MICROSTEP16, * YStepperMotor::STEPPING_MICROSTEP8, YStepperMotor::STEPPING_MICROSTEP4, * YStepperMotor::STEPPING_HALFSTEP and YStepperMotor::STEPPING_FULLSTEP corresponding to the stepping * mode used to drive the motor * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_stepping(Y_STEPPING_enum newval); inline int setStepping(Y_STEPPING_enum newval) { return this->set_stepping(newval); } /** * Returns the overcurrent alert and emergency stop threshold, measured in mA. * * @return an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA * * On failure, throws an exception or returns YStepperMotor::OVERCURRENT_INVALID. */ int get_overcurrent(void); inline int overcurrent(void) { return this->get_overcurrent(); } /** * Changes the overcurrent alert and emergency stop threshold, measured in mA. * * @param newval : an integer corresponding to the overcurrent alert and emergency stop threshold, measured in mA * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_overcurrent(int newval); inline int setOvercurrent(int newval) { return this->set_overcurrent(newval); } /** * Returns the torque regulation current when the motor is stopped, measured in mA. * * @return an integer corresponding to the torque regulation current when the motor is stopped, measured in mA * * On failure, throws an exception or returns YStepperMotor::TCURRSTOP_INVALID. */ int get_tCurrStop(void); inline int tCurrStop(void) { return this->get_tCurrStop(); } /** * Changes the torque regulation current when the motor is stopped, measured in mA. * * @param newval : an integer corresponding to the torque regulation current when the motor is * stopped, measured in mA * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_tCurrStop(int newval); inline int setTCurrStop(int newval) { return this->set_tCurrStop(newval); } /** * Returns the torque regulation current when the motor is running, measured in mA. * * @return an integer corresponding to the torque regulation current when the motor is running, measured in mA * * On failure, throws an exception or returns YStepperMotor::TCURRRUN_INVALID. */ int get_tCurrRun(void); inline int tCurrRun(void) { return this->get_tCurrRun(); } /** * Changes the torque regulation current when the motor is running, measured in mA. * * @param newval : an integer corresponding to the torque regulation current when the motor is * running, measured in mA * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_tCurrRun(int newval); inline int setTCurrRun(int newval) { return this->set_tCurrRun(newval); } string get_alertMode(void); inline string alertMode(void) { return this->get_alertMode(); } int set_alertMode(const string& newval); inline int setAlertMode(const string& newval) { return this->set_alertMode(newval); } string get_auxMode(void); inline string auxMode(void) { return this->get_auxMode(); } int set_auxMode(const string& newval); inline int setAuxMode(const string& newval) { return this->set_auxMode(newval); } /** * Returns the current value of the signal generated on the auxiliary output. * * @return an integer corresponding to the current value of the signal generated on the auxiliary output * * On failure, throws an exception or returns YStepperMotor::AUXSIGNAL_INVALID. */ int get_auxSignal(void); inline int auxSignal(void) { return this->get_auxSignal(); } /** * Changes the value of the signal generated on the auxiliary output. * Acceptable values depend on the auxiliary output signal type configured. * * @param newval : an integer corresponding to the value of the signal generated on the auxiliary output * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_auxSignal(int newval); inline int setAuxSignal(int newval) { return this->set_auxSignal(newval); } string get_command(void); inline string command(void) { return this->get_command(); } int set_command(const string& newval); inline int setCommand(const string& newval) { return this->set_command(newval); } /** * Retrieves a stepper motor for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the stepper motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the stepper motor is * indeed online at a given time. In case of ambiguity when looking for * a stepper motor by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the stepper motor, for instance * MyDevice.stepperMotor1. * * @return a YStepperMotor object allowing you to drive the stepper motor. */ static YStepperMotor* FindStepperMotor(string func); /** * Registers the callback function that is invoked on every change of advertised value. * The callback is invoked only during the execution of ySleep or yHandleEvents. * This provides control over the time when the callback is triggered. For good responsiveness, remember to call * one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument. * * @param callback : the callback function to call, or a NULL pointer. The callback function should take two * arguments: the function object of which the value has changed, and the character string describing * the new advertised value. * @noreturn */ virtual int registerValueCallback(YStepperMotorValueCallback callback); using YFunction::registerValueCallback; virtual int _invokeValueCallback(string value); virtual int sendCommand(string command); /** * Reinitialize the controller and clear all alert flags. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int reset(void); /** * Starts the motor backward at the specified speed, to search for the motor home position. * * @param speed : desired speed, in steps per second. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int findHomePosition(double speed); /** * Starts the motor at a given speed. The time needed to reach the requested speed * will depend on the acceleration parameters configured for the motor. * * @param speed : desired speed, in steps per second. The minimal non-zero speed * is 0.001 pulse per second. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int changeSpeed(double speed); /** * Starts the motor to reach a given absolute position. The time needed to reach the requested * position will depend on the acceleration and max speed parameters configured for * the motor. * * @param absPos : absolute position, measured in steps from the origin. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int moveTo(double absPos); /** * Starts the motor to reach a given relative position. The time needed to reach the requested * position will depend on the acceleration and max speed parameters configured for * the motor. * * @param relPos : relative position, measured in steps from the current position. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int moveRel(double relPos); /** * Starts the motor to reach a given relative position, keeping the speed under the * specified limit. The time needed to reach the requested position will depend on * the acceleration parameters configured for the motor. * * @param relPos : relative position, measured in steps from the current position. * @param maxSpeed : limit speed, in steps per second. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int moveRelSlow(double relPos,double maxSpeed); /** * Keep the motor in the same state for the specified amount of time, before processing next command. * * @param waitMs : wait time, specified in milliseconds. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int pause(int waitMs); /** * Stops the motor with an emergency alert, without taking any additional precaution. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int emergencyStop(void); /** * Move one step in the direction opposite the direction set when the most recent alert was raised. * The move occurs even if the system is still in alert mode (end switch depressed). Caution. * use this function with great care as it may cause mechanical damages ! * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int alertStepOut(void); /** * Move one single step in the selected direction without regards to end switches. * The move occurs even if the system is still in alert mode (end switch depressed). Caution. * use this function with great care as it may cause mechanical damages ! * * @param dir : Value +1 or -1, according to the desired direction of the move * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int alertStepDir(int dir); /** * Stops the motor smoothly as soon as possible, without waiting for ongoing move completion. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int abortAndBrake(void); /** * Turn the controller into Hi-Z mode immediately, without waiting for ongoing move completion. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int abortAndHiZ(void); inline static YStepperMotor *Find(string func) { return YStepperMotor::FindStepperMotor(func); } /** * Continues the enumeration of stepper motors started using yFirstStepperMotor(). * Caution: You can't make any assumption about the returned stepper motors order. * If you want to find a specific a stepper motor, use StepperMotor.findStepperMotor() * and a hardwareID or a logical name. * * @return a pointer to a YStepperMotor object, corresponding to * a stepper motor currently online, or a NULL pointer * if there are no more stepper motors to enumerate. */ YStepperMotor *nextStepperMotor(void); inline YStepperMotor *next(void) { return this->nextStepperMotor();} /** * Starts the enumeration of stepper motors currently accessible. * Use the method YStepperMotor::nextStepperMotor() to iterate on * next stepper motors. * * @return a pointer to a YStepperMotor object, corresponding to * the first stepper motor currently online, or a NULL pointer * if there are none. */ static YStepperMotor *FirstStepperMotor(void); inline static YStepperMotor *First(void) { return YStepperMotor::FirstStepperMotor();} #ifdef __BORLANDC__ #pragma option pop #endif //--- (end of YStepperMotor accessors declaration) }; //--- (YStepperMotor functions declaration) /** * Retrieves a stepper motor for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the stepper motor is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the stepper motor is * indeed online at a given time. In case of ambiguity when looking for * a stepper motor by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the stepper motor, for instance * MyDevice.stepperMotor1. * * @return a YStepperMotor object allowing you to drive the stepper motor. */ inline YStepperMotor *yFindStepperMotor(const string& func) { return YStepperMotor::FindStepperMotor(func);} /** * Starts the enumeration of stepper motors currently accessible. * Use the method YStepperMotor::nextStepperMotor() to iterate on * next stepper motors. * * @return a pointer to a YStepperMotor object, corresponding to * the first stepper motor currently online, or a NULL pointer * if there are none. */ inline YStepperMotor *yFirstStepperMotor(void) { return YStepperMotor::FirstStepperMotor();} //--- (end of YStepperMotor functions declaration) #ifdef YOCTOLIB_NAMESPACE // end of namespace definition } #endif #endif