/**
* Copyright (c) 2011-2014 Jeff Hoefs <soundanalogous@gmail.com>
* Released under the MIT license. See LICENSE file for details.
*/
JSUTILS.namespace('BO.io.Stepper');
BO.io.Stepper = (function() {
"use strict";
var Stepper;
var instanceCounter = 0;
// private static constants
var STEPPER = 0x72,
CONFIG = 0,
STEP = 1,
MAX_STEPS = 2097151, // 21 bits (2^21 - 1)
MAX_SPEED = 16383; // 14 bits (2^14 - 1)
// dependencies
var Pin = BO.Pin,
EventDispatcher = JSUTILS.EventDispatcher,
Event = JSUTILS.Event,
IOBoardEvent = BO.IOBoardEvent;
/**
* Creates an interface to a Stepper motor. Use this object to set
* the direction and number of steps for the motor to rotate. See
* [Breakout/examples/actuators/stepper\_2wire.html](https://github.com/soundanalogous/Breakout/blob/master/examples/actuators/stepper_2wire.html),
* [stepper\_4wire.html](https://github.com/soundanalogous/Breakout/blob/master/examples/actuators/stepper_4wire.html),
* [stepper\_easydriver.html](https://github.com/soundanalogous/Breakout/blob/master/examples/actuators/stepper_easydriver.html)
* and [stepper\_simple.html](https://github.com/soundanalogous/Breakout/blob/master/examples/actuators/stepper_simple.html) for example applications.
*
* @class Stepper
* @constructor
* @uses JSUTILS.EventDispatcher
* @param {IOBoard} board A reference to the IOBoard instance that the
* stepper is attached to.
* @param {Number} driverType. The type of driver (`Stepper.DRIVER`,
* `Stepper.DRIVER_HIGH_CURRENT`, `Stepper.TWO_WIRE`, or
* `Stepper.FOUR_WIRE`).
* @param {Number} numStepsPerRev The number of steps to make 1 revolution.
* @param {Pin} directionPin If dirver interface, the pin used to control
* the direction.
* If 2-wire or 4-wire interface, the 1st moter pin.
* @param {Pin} stepPin If dirver interface, the pin used to control the
* steps.
* If 2-wire or 4-wire interface, the 2nd moter pin.
* @param {Pin} motorPin3 [optional] Only required for a 4-wire interface.
* @param {Pin} motorPin4 [optional] Only required for a 4-wire interface.
*
* @example
* var Stepper = BO.io.Stepper,
* Event = JSUTILS.Event;
*
* var stepper,
* stepsPerRev = 200, // update this for your stepper
* numSteps = stepsPerRev * 10, // 10 revolutions (+ CW, - CCW)
* speed = 15.0, // rad/sec (RPM = speed * 9.55)
* acceleration = 20.0, // rad/sec^2
* deceleration = 20.0; // rad/sec^2
*
* stepper = new Stepper(arduino,
* Stepper.TWO_WIRE, // or Stepper.DRIVER or Stepper.FOUR_WIRE
* stepsPerRev,
* arduino.getDigitalPin(2),
* arduino.getDigitalPin(3));
*
* stepper.addEventListener(Event.COMPLETE, onStepperComplete);
*
* // acceleration and deceleration parameters are optional
* stepper.step(numSteps, speed, acceleration, deceleration);
*
* function onStepperComplete(event) {
* // each stepper is assigned a read-only id value when instantiated
* console.log("stepper " + event.target.id + " sequence complete");
* }
*/
Stepper = function(board, driverType, numStepsPerRev, directionPin, stepPin, motorPin3, motorPin4) {
// create a new id each time a new instance is created
this._id = instanceCounter++;
if (this._id > 5) {
console.log("Warning: A maximum of 6 Stepper instances can be created");
return;
}
this.name = "Stepper";
this._board = board;
this._evtDispatcher = new EventDispatcher(this);
var numStepsPerRevLSB = numStepsPerRev & 0x007F,
numStepsPerRevMSB = (numStepsPerRev >> 7) & 0x007F,
silent = true;
// Setup pin mode but don't send set pin mode command to Firmata since
// Firmata sets pin modes automatically in the Stepper implementation.
this._board.setDigitalPinMode(directionPin.number, Pin.DOUT, silent);
this._board.setDigitalPinMode(stepPin.number, Pin.DOUT, silent);
this._board.addEventListener(IOBoardEvent.SYSEX_MESSAGE, this.onSysExMessage.bind(this));
switch (driverType) {
case Stepper.DRIVER:
case Stepper.DRIVER_HIGH_CURRENT:
case Stepper.TWO_WIRE:
// configure the stepper motor
this._board.sendSysex(STEPPER, [CONFIG,
this._id,
driverType,
numStepsPerRevLSB,
numStepsPerRevMSB,
directionPin.number,
stepPin.number
]);
break;
case Stepper.FOUR_WIRE:
this._board.setDigitalPinMode(motorPin3.number, Pin.DOUT, silent);
this._board.setDigitalPinMode(motorPin4.number, Pin.DOUT, silent);
// configure the stepper motor
this._board.sendSysex(STEPPER, [CONFIG,
this._id,
driverType,
numStepsPerRevLSB,
numStepsPerRevMSB,
directionPin.number,
stepPin.number,
motorPin3.number,
motorPin4.number
]);
break;
}
};
Stepper.prototype = {
constructor: Stepper,
/**
* Move the stepper a given number of steps at the specified
* speed (rad/sec), acceleration (rad/sec^2) and deceleration (rad/sec^2).
* The accel and decel parameters are optional but if using, both values
* must be passed to the function.
*
* @method step
* @param {Number} numSteps The number ofsteps to move the motor (max = +/-2097151 (21 bits)).
* Positive value is clockwise, negative value is counter clockwise.
* @param {Number} speed Max speed in rad/sec (1 rad/sec = 9.549 RPM)
* (max precision of 2 decimal places)
* @param {Number} accel [optional] Acceleration in rad/sec^2 (max precision of 2 decimal places)
* @param {Number} decel [optional] Deceleration in rad/sec^2 (max precision of 2 decimal places)
*/
step: function(numSteps, speed, accel, decel) {
var steps,
speedLSB,
speedMSB,
accelLSB,
accelMSB,
decelLSB,
decelMSB,
direction = Stepper.CLOCKWISE;
if (numSteps > MAX_STEPS) {
numSteps = MAX_STEPS;
console.log("Warning: Maximum number of steps (2097151) exceeded. Setting to step number to 2097151");
}
if (numSteps < -MAX_STEPS) {
numSteps = -MAX_STEPS;
console.log("Warning: Maximum number of steps (-2097151) exceeded. Setting to step number to -2097151");
}
if (numSteps > 0) {
direction = Stepper.COUNTER_CLOCKWISE;
}
steps = [
Math.abs(numSteps) & 0x0000007F, (Math.abs(numSteps) >> 7) & 0x0000007F, (Math.abs(numSteps) >> 14) & 0x0000007F
];
// the stepper interface expects decimal expressed an an integer
speed = Math.floor(speed.toFixed(2) * 100);
if (speed > MAX_SPEED) {
speed = MAX_SPEED;
console.log("Warning: Maximum speed (163.83 rad/sec) exceeded. Setting speed to 163.83 rad/sec");
}
speedLSB = speed & 0x007F;
speedMSB = (speed >> 7) & 0x007F;
// make sure both accel and decel are defined
if (accel !== undefined && decel !== undefined) {
// the stepper interface expects decimal expressed an an integer
accel = Math.floor(accel.toFixed(2) * 100);
decel = Math.floor(decel.toFixed(2) * 100);
accelLSB = accel & 0x007F;
accelMSB = (accel >> 7) & 0x007F;
decelLSB = decel & 0x007F;
decelMSB = (decel >> 7) & 0x007F;
this._board.sendSysex(STEPPER, [STEP,
this._id,
direction,
steps[0],
steps[1],
steps[2],
speedLSB,
speedMSB,
accelLSB,
accelMSB,
decelLSB,
decelMSB
]);
} else {
// don't send accel and decel values
this._board.sendSysex(STEPPER, [STEP,
this._id,
direction,
steps[0],
steps[1],
steps[2],
speedLSB,
speedMSB
]);
}
},
/**
* Listen for stepping complete event
*
* @private
* @method onSysExMessage
*/
onSysExMessage: function(event) {
var message = event.message;
if (message[0] !== STEPPER) {
return;
} else if (message[1] !== this._id) {
return;
} else {
this.dispatchEvent(new Event(Event.COMPLETE));
}
},
/**
* [read-only] The id of the Stepper object instance. Each stepper motor
* is given a unique id upon initialization.
* @property id
* @type Number
*/
get id() {
return this._id;
},
/* implement EventDispatcher */
/**
* @param {String} type The event type
* @param {Function} listener The function to be called when the event is fired
*/
addEventListener: function(type, listener) {
this._evtDispatcher.addEventListener(type, listener);
},
/**
* @param {String} type The event type
* @param {Function} listener The function to be called when the event is fired
*/
removeEventListener: function(type, listener) {
this._evtDispatcher.removeEventListener(type, listener);
},
/**
* @param {String} type The event type
* return {boolean} True is listener exists for this type, false if not.
*/
hasEventListener: function(type) {
return this._evtDispatcher.hasEventListener(type);
},
/**
* @param {Event} type The Event object
* @param {Object} optionalParams Optional parameters to assign to the event object.
* return {boolean} True if dispatch is successful, false if not.
*/
dispatchEvent: function(event, optionalParams) {
return this._evtDispatcher.dispatchEvent(event, optionalParams);
}
};
/**
* @property Stepper.CLOCKWISE
* @static
*/
Stepper.CLOCKWISE = 0;
/**
* @property Stepper.COUNTER_CLOCKWISE
* @static
*/
Stepper.COUNTER_CLOCKWISE = 1;
/**
* Uses 1 microsecond delay between steps
* @property Stepper.DRIVER
* @static
*/
Stepper.DRIVER = 0x01;
/**
* Uses 2 microsecond delay between steps
* @property Stepper.DRIVER_HIGH_CURRENT
* @static
*/
Stepper.DRIVER_HIGH_CURRENT = 0x11;
/**
* @property Stepper.TWO_WIRE
* @static
*/
Stepper.TWO_WIRE = 0x02;
/**
* @property Stepper.FOUR_WIRE
* @static
*/
Stepper.FOUR_WIRE = 0x04;
return Stepper;
})();
