Changed setAccel() and setStepType() to return StepperControl*

Allows for daisy-chaining of configuration parameters.

Also added initialization of upLinkData in motorTask to prevent time-outs if setMove() is never called (by initializing msDelay=10)

src/src/extras/StepperControl.cpp

@@ -39,19 +39,20 @@ StepperControl::StepperControl(uint32_t priority, uint32_t cpu){
 
 //////////////////////////
 
-void StepperControl::setAccel(float accelSize, float accelSteps){
+StepperControl *StepperControl::setAccel(float accelSize, float accelSteps){
   if(accelSize<0.0){
     ESP_LOGE(STEPPER_TAG,"accelSize cannot be less than 0.0");
-    return;
+    return(this);
   }
   
   if(accelSteps<1.0){
     ESP_LOGE(STEPPER_TAG,"accelSteps cannot be less than 1.0");
-    return;
+    return(this);
   }
 
   this->accelSize=accelSize;
   this->accelSteps=accelSteps;
+  return(this);
 }
 
 //////////////////////////
@@ -62,7 +63,7 @@ void StepperControl::move(int nSteps, uint32_t msDelay, endAction_t endAction){
     return;
   }
   
-  upLink_t upLinkData = { .nSteps=nSteps, .msDelay=msDelay, .action=MOVE, endAction=endAction };
+  upLink_t upLinkData = { .nSteps=nSteps, .msDelay=msDelay, .action=MOVE, .endAction=endAction };
   xQueueOverwrite(upLinkQueue,&upLinkData);
   waitForAck();
 }
@@ -138,7 +139,7 @@ void StepperControl::enable(){
 
 void StepperControl::motorTask(void *args){
   StepperControl *motor = (StepperControl *)args;
-  upLink_t upLinkData;
+  upLink_t upLinkData = { .nSteps=0, .msDelay=10, .action=MOVE, .endAction=NONE };
   downLink_t downLinkData;
   boolean running=false;
 

src/src/extras/StepperControl.h

@@ -90,8 +90,8 @@ class StepperControl {
   public:
 
   StepperControl(uint32_t priority=1, uint32_t cpu=0);
-  virtual void setStepType(int mode){};
+  virtual StepperControl *setStepType(int mode){return(this);};
-  void setAccel(float accelSize, float accelSteps);
+  StepperControl *setAccel(float accelSize, float accelSteps);
   void move(int nSteps, uint32_t msDelay, endAction_t endAction=NONE);
   void moveTo(int nPosition, uint32_t msDelay, endAction_t endAction=NONE);
   int position();

src/src/extras/Stepper_A3967.h

@@ -91,7 +91,7 @@ struct Stepper_A3967 : StepperControl {
 
 //////////////////////////
 
-  void setStepType(int mode) override {
+  StepperControl *setStepType(int mode) override {
     switch(mode){
       case FULL_STEP_TWO_PHASE:
         digitalWrite(m1Pin,LOW);
@@ -112,6 +112,7 @@ struct Stepper_A3967 : StepperControl {
       default:
         ESP_LOGE(STEPPER_TAG,"Unknown StepType=%d",mode);
     }
+    return(this);
   }
   
 };

src/src/extras/Stepper_TB6612.h

@@ -135,7 +135,7 @@ struct Stepper_TB6612 : StepperControl {
 
 //////////////////////////
 
-  void setStepType(int mode) override {
+  StepperControl *setStepType(int mode) override {
 
     switch(mode){
       case FULL_STEP_ONE_PHASE:
@@ -156,7 +156,7 @@ struct Stepper_TB6612 : StepperControl {
       case QUARTER_STEP:
         if(!pwmA){
           ESP_LOGE(STEPPER_TAG,"QUARTER_STEP requires PWM pins");
-          return;
+          return(this);
         }
         phase=0;
         nPhases=16;
@@ -165,7 +165,7 @@ struct Stepper_TB6612 : StepperControl {
       case EIGHTH_STEP:
         if(!pwmA){
           ESP_LOGE(STEPPER_TAG,"EIGHTH_STEP requires PWM pins");
-          return;
+          return(this);
         }
         phase=0;
         nPhases=32;
@@ -174,6 +174,7 @@ struct Stepper_TB6612 : StepperControl {
       default:
         ESP_LOGE(STEPPER_TAG,"Unknown StepType=%d",mode);
     }
+    return(this);
   }
   
 };

src/src/extras/extras.ino

@@ -29,8 +29,13 @@
 // as well as compile and test from this point.  This file is ignored when the library is included in other sketches.
 
 #include "Stepper_TB6612.h"   // include the driver for a TB6612 chip
+#include "Stepper_A3967.h"
 
-StepperControl *motor;        // create a global pointer to StepperControl so it can be accessed in both setup() and loop()
+StepperControl *bigMotor;
+StepperControl *smallMotor;
+
+#define BIG_MOTOR_POSITION    1600
+#define SMALL_MOTOR_POSITION  2064
 
 ///////////////////
 
@@ -40,33 +45,27 @@ void setup() {
   delay(1000);
   Serial.printf("\nHomeSpan Stepper Control\n\n");
 
-  motor=new Stepper_TB6612(23,32,22,14,33,27);      // instantiate the motor object (with PWM pins 33 and 27 specified)
+  bigMotor=(new Stepper_TB6612(23,32,22,14,33,27))->setStepType(StepperControl::HALF_STEP)->setAccel(10,20);;
+  smallMotor=new Stepper_A3967(17,16,19,18,21);
 
-  motor->setStepType(StepperControl::HALF_STEP);    // set the mode to half-step, which means 400 steps are needed for a complete revolution for a 200-step motor
+//  bigMotor->setStepType(StepperControl::HALF_STEP);
-  motor->setAccel(10,20);                           // add acceleration parameters of 10x spread of 20 steps
+//  bigMotor->setAccel(10,20);
-
-  Serial.printf("Moving motor 400 steps and waiting until motor stops...\n");
-  
-  motor->move(-400,5);              // move the motor -400 steps (1 revolution), with 2ms between steps.
-  while(motor->stepsRemaining());   // wait until there no remaining steps
-
-  Serial.printf("Moving motor to absolute position of +1200 (reversing a total of 1600 steps, or 4 revolutions) without waiting...\n");
-  
-  motor->moveTo(1200,2,StepperControl::BRAKE);    // move the motor to an absolute position of 1200 steps with 3ms between steps; enter brake state when done
-
-  // Motor will continue moving in background even once setup() exits and loop() below starts
 }
 
 ///////////////////
 
 void loop(){
 
-  Serial.printf("Motor has %d remaining steps\n",motor->stepsRemaining());
+  if(smallMotor->position()==0)
+    smallMotor->moveTo(SMALL_MOTOR_POSITION,2);
+  else if(smallMotor->position()==SMALL_MOTOR_POSITION)
+    smallMotor->moveTo(0,2);
 
-  delay(1000);      // motor is unaffected by delay()
+  if(bigMotor->position()==0)
+    bigMotor->moveTo(BIG_MOTOR_POSITION,4);
+  else if(bigMotor->position()==BIG_MOTOR_POSITION)
+    bigMotor->moveTo(0,4);    
 
-  if(motor->position()==1200){
+  delay(1000);
-    Serial.printf("Motor has reached final position and is now stopped.\n");
+  Serial.printf("Small Motor: %d     Big Motor %d\n",smallMotor->stepsRemaining(),bigMotor->stepsRemaining());
-    while(1);
-  }
 }