#pragma once // Related // System / External #include #include // Selfmade // Project #include "../BaseController.h" #include "StepperTest.h" using TMC2130_n::DRV_STATUS_t; /** * @brief stepper movement instructions, movements that can be scheduled * */ struct stepperRecipe_s { stepperMode_e mode; // Operation mode float rpm; // Speed in rotations per minute uint8_t load; // Motorload in %, 0 = no load, 100 = full load int32_t position1; // Start position int32_t position2; // End position }; /** * @brief Status of stepper * */ struct stepperStatus_s { float rpm; // Steper Rotations per minute uint8_t load; // Stepper load in %, 0 = no load, 100 = full load int32_t position; // stepper position bool errorOverheating; // Warning Stepper Driver overheated bool errorShutdownHeat; // Stepper shut down due to overheated driver bool errorShutdownShortCircuit; // Stepper shut down due to short circuit bool errorOpenLoad; // Stepper driver detected open load }; class Stepper : public BaseController { private: unsigned long _lastAdjustTime = 0; // millis() of last time the speed was adjusted with adjustSpeedByLoad() // Drivers TMC2130Stepper *_driver; FastAccelStepperEngine *_engine = NULL; FastAccelStepper *_stepper = NULL; // Hardcoded configuration const uint16_t DEFAULT_ACCELERATION = 10000; // Default stepper acceleration const float DEFAULT_HOMING_SPEED_RPM = 60; // Default homing speed in rotations per minute const uint8_t HOMING_BUMPS_NEEDED = 2; // Number of consecutive bumps (100% load) needed to be sure that we have found the home // position and not just measured a glitched load value // Soft configuration uint16_t _acceleration = DEFAULT_ACCELERATION; // Motor acceleration stepperConfiguration_s _config; // Stepper configuration uint32_t _microstepsPerRotation; // Count of step signals to be sent for one rotation float _homingSpeedRpm = DEFAULT_HOMING_SPEED_RPM; // Speed for homing in rotations per minute, low values can lead to glitchy // load-measurement and thus wrong homing // Status bool _initialised = false; // Flag whether controller has been initialised uint8_t _homeConsecutiveBumpCounter = 0; // Number of consecutive bumps (100% load) while at homing-speed. Needed to detect proper // home-position opposed to glitched load values. bool _homed = false; // Flag whether the driver of the stepper has been homed yet stepperStatus_s _stepperStatus; // Current status of stepper // Recipes aka commands aka operation modes const stepperRecipe_s _defaultRecipe = {.mode = OFF, .rpm = 0, .load = 0, .position1 = 0, .position2 = 0}; stepperRecipe_s _currentRecipe = _defaultRecipe; // current operation mode stepperRecipe_s _targetRecipe = _defaultRecipe; // target operation mode bool _newCommand = false; // Flag whether a new command is waiting in _targetRecipe /** * @brief Check if stepper is moving or rotating * * @return true Stepper is moving * @return false Stepper is off or in standby */ bool isMoving(); /** * @brief Check whether end condition of recipe is met * * @return true Stepper Homed/Positioned/at left or right stop * @return false Stepper still moving or in standby/off */ bool isRecipeFinished(); /** * @brief Checks whether defined starting speed has been reached * * @return true speed reached * @return false speed not reached */ bool isStartSpeedReached(); /** * @brief Check wether target mode needs homing * * @param targetMode desired mode stepper should switch to * @param currentMode current mode of operation * @return true targetMode needs position accuracy but stepper is not homed * yet * @return false mode does not require accuracy or already homed */ bool checkNeedsHome(stepperMode_e targetMode, stepperMode_e currentMode); /** * @brief Update _current struct with current rpm, load, position * */ void updateStatus(); /** * @brief Make the motor run at a defined speed * * @param speedRpm speed in rotations per minute. If 0 the motor will be powered but not moving. Positive / negative values determine * the direction * @param forceMoveStop true=forefully stop current movement before applying new speed, false=fluent transition into new speed */ void applySpeed(float speedRpm, bool forceMoveStop = true); /** * @brief Start executing a recipe * * @param recipe recipe to be executed */ void startRecipe(stepperRecipe_s recipe); /** * @brief Stop the stepper immediatly but remember position (emergency stop) * */ void forceStop(); /** * @brief Update the motor speed according to the current load * */ void adjustSpeedByLoad(); public: Stepper(stepperConfiguration_s &config, FastAccelStepperEngine *engine); /** * @brief Get the current raw stall value from the driver * * @return uint16_t raw load 0...1023 */ uint16_t getCurrentStall(); // TODO: Temporarily public for testing /** * @brief Initialise controller according to set configuration */ void init(); /** * @brief Disable motor drivers, sets stepper in free-spin * */ void switchModeOff(); /** * @brief Keeps the motor powered while eactivating any current movement commands * */ void switchModeStandby(); /** * @brief Start rotating stepper forever with constant speed * * @param rpm target stepper speed in rotationsPerMinute * negative values change direction */ void moveRotate(float rpm); /** * @brief Rotate stepper while keeping measured load at setpoint * * @param startSpeed Speed at which load detection reliably works * @param desiredLoad Target load in % */ void moveRotateWithLoadAdjust(float startSpeed, uint8_t desiredLoad); /** * @brief Start moving stepper with rpm until load reaches 100% * * @param rpm target stepper speed in rotationsPerMinute * negative values change direction */ void moveHome(float rpm); /** * @brief Start moving stepper to target position * * @param rpm movement speed in rotations per minute * @param position target postion in mm absolut */ void movePosition(float rpm, int32_t position); /** * @brief Start moving stepper between two positions * * @param rpm target stepper speed in rotationsPerMinute negative values * change direction * @param startPos start position * @param endPos end position * @param directionForward true=Start by moving from start to end, false=Start by moving from end to start */ void moveOscillate(float rpm, int32_t startPos, int32_t endPos, bool directionForward = true); /** * @brief Manages states and transitions, repeatedly called * */ void handle(); /** * @brief Print anoverview of stepper-related status details, used for debugging * TODO: Remove eventually since debug-related? * * @param verbous true=all details, false=short details */ void printStatus(bool verbous); /** * @brief Check whether controller was initialised and is in a valid state * * @return true controller initialised and ready * @return false controller not ready */ bool isReady(); // Getter-method stepperStatus_s getStatus(); // Getter-method stepperMode_e getCurrentMode(); // Getter-method float getHomingSpeed(); /** * @brief Sets the homing speed. Invalid (<= 0) values are corrected to the default(60 rpm) * * @param newSpeedRpm new speed in rotations per minute */ void setHomingSpeed(float newSpeedRpm); /** * @brief Change start- and end-positions of current move-command without interrupting it * * @param startPos start position * @param endPos end position */ void adjustMovePositions(int32_t startPos, int32_t endPos); /** * @brief Change speed of current move-command without interrupting it * * @param rpm movement speed in rotations per minute */ void adjustMoveSpeed(float rpm); /** * @brief Set and apply new motor acceleration * * @param newAcceleration new value to be used */ void adjustAcceleration(uint16_t newAcceleration); // Getter-method uint16_t getAcceleration(); };