Merge pull request #105 from DCC-EX:next-release

v0.7.0-Devel

AccelStepper.cpp

@@ -1,6 +1,6 @@
 // AccelStepper.cpp
 //
-// Copyright (C) 2009-2013 Mike McCauley
+// Copyright (C) 2009-2020 Mike McCauley
 // $Id: AccelStepper.cpp,v 1.24 2020/04/20 00:15:03 mikem Exp mikem $
 
 #include "AccelStepper.h"
@@ -94,7 +94,8 @@ void AccelStepper::setCurrentPosition(long position)
     _speed = 0.0;
 }
 
-void AccelStepper::computeNewSpeed()
+// Subclasses can override
+unsigned long AccelStepper::computeNewSpeed()
 {
     long distanceTo = distanceToGo(); // +ve is clockwise from curent location
 
@@ -106,7 +107,7 @@ void AccelStepper::computeNewSpeed()
 	_stepInterval = 0;
 	_speed = 0.0;
 	_n = 0;
-	return;
+	return _stepInterval;
     }
 
     if (distanceTo > 0)
@@ -174,6 +175,7 @@ void AccelStepper::computeNewSpeed()
     Serial.println(stepsToStop);
     Serial.println("-----");
 #endif
+    return _stepInterval;
 }
 
 // Run the motor to implement speed and acceleration in order to proceed to the target position
@@ -187,17 +189,13 @@ boolean AccelStepper::run()
     return _speed != 0.0 || distanceToGo() != 0;
 }
 
-// Line commented out below is the original AccelStepper line.
-// AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
-
-// EX-Turntable modification: add extra flag to enable automatic inversion of two wire drivers at instantiation.
-AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable, bool invert)
+AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
 {
     _interface = interface;
     _currentPos = 0;
     _targetPos = 0;
     _speed = 0.0;
-    _maxSpeed = 1.0;
+    _maxSpeed = 0.0;
     _acceleration = 0.0;
     _sqrt_twoa = 1.0;
     _stepInterval = 0;
@@ -209,7 +207,6 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
     _pin[2] = pin3;
     _pin[3] = pin4;
     _enableInverted = false;
-    _invert = invert;
 
     // NEW
     _n = 0;
@@ -225,14 +222,7 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
 	enableOutputs();
     // Some reasonable default
     setAcceleration(1);
-
-// Turntable-EX modification: add extra flag to enable automatic inversion of two wire drivers at instantiation.
-    if (_interface == AccelStepper::DRIVER) {
-        setEnablePin(_pin[2]);
-        if (_invert) {
-            setPinsInverted(false, false, true);
-        }
-    }
+    setMaxSpeed(1);
 }
 
 AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
@@ -241,7 +231,7 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
     _currentPos = 0;
     _targetPos = 0;
     _speed = 0.0;
-    _maxSpeed = 1.0;
+    _maxSpeed = 0.0;
     _acceleration = 0.0;
     _sqrt_twoa = 1.0;
     _stepInterval = 0;
@@ -267,6 +257,7 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
 	_pinInverted[i] = 0;
     // Some reasonable default
     setAcceleration(1);
+    setMaxSpeed(1);
 }
 
 void AccelStepper::setMaxSpeed(float speed)
@@ -308,6 +299,11 @@ void AccelStepper::setAcceleration(float acceleration)
     }
 }
 
+float   AccelStepper::acceleration()
+{
+    return _acceleration;
+}
+
 void AccelStepper::setSpeed(float speed)
 {
     if (speed == _speed)
@@ -363,6 +359,24 @@ void AccelStepper::step(long step)
     }
 }
 
+long AccelStepper::stepForward()
+{
+    // Clockwise
+    _currentPos += 1;
+	step(_currentPos);
+	_lastStepTime = micros();
+    return _currentPos;
+}
+
+long AccelStepper::stepBackward()
+{
+    // Counter-clockwise
+    _currentPos -= 1;
+	step(_currentPos);
+	_lastStepTime = micros();
+    return _currentPos;
+}
+
 // You might want to override this to implement eg serial output
 // bit 0 of the mask corresponds to _pin[0]
 // bit 1 of the mask corresponds to _pin[1]

AccelStepper.h

@@ -23,7 +23,7 @@
 /// The latest version of this documentation can be downloaded from 
 /// http://www.airspayce.com/mikem/arduino/AccelStepper
 /// The version of the package that this documentation refers to can be downloaded 
-/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.61.zip
+/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.64.zip
 ///
 /// Example Arduino programs are included to show the main modes of use.
 ///
@@ -35,6 +35,10 @@
 /// - http://www.catb.org/esr/faqs/smart-questions.html
 /// - http://www.chiark.greenend.org.uk/~shgtatham/bugs.html
 ///
+/// Beginners to C++ and stepper motors in general may find this helpful:
+/// - https://hackaday.io/project/183279-accelstepper-the-missing-manual
+/// - https://hackaday.io/project/183713-using-the-arduino-accelstepper-library
+///
 /// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 
 /// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
 /// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
@@ -81,7 +85,7 @@
 ///
 /// \par Copyright
 ///
-/// This software is Copyright (C) 2010-2018 Mike McCauley. Use is subject to license
+/// This software is Copyright (C) 2010-2021 Mike McCauley. Use is subject to license
 /// conditions. The main licensing options available are GPL V3 or Commercial:
 ///
 /// \par Open Source Licensing GPL V3
@@ -249,9 +253,18 @@
 /// \version 1.61 2020-04-20
 ///                Added yield() call in runToPosition(), so that platforms like esp8266 dont hang/crash
 ///                during long runs.
+/// \version 1.62 2022-05-22
+///                Added link to AccelStepper - The Missing Manual.<br>
+///                Fixed a problem when setting the maxSpeed to 1.0 due to incomplete initialisation.
+///                Reported by Olivier Pécheux. <br>
+/// \version 1.63 2022-06-30
+///                Added virtual destructor at the request of Jan.<br>
+/// \version 1.64 2022-10-31
+///                Patch courtesy acwest: Changes to make AccelStepper more subclassable. These changes are
+///                largely oriented to implementing new step-scheduling algorithms.
 ///
-/// \author  Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS
-// Copyright (C) 2009-2013 Mike McCauley
+/// \author  Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE GOOGLE GROUP
+// Copyright (C) 2009-2020 Mike McCauley
 // $Id: AccelStepper.h,v 1.28 2020/04/20 00:15:03 mikem Exp mikem $
 
 #ifndef AccelStepper_h
@@ -370,12 +383,7 @@ class AccelStepper
     /// to pin 5.
     /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
     /// the output pins at construction time.
-
-    // Line below commented out is the original AccelStepper line.
-    // AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
-
-// EX-Turntable modification: add extra flag to enable automatic inversion of two wire drivers at instantiation.
-    AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true, bool invert = false);
+    AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
 
     /// Alternate Constructor which will call your own functions for forward and backward steps. 
     /// You can have multiple simultaneous steppers, all moving
@@ -434,6 +442,11 @@ class AccelStepper
     /// root to be calculated. Dont call more ofthen than needed
     void    setAcceleration(float acceleration);
 
+    /// Returns the acceleration/deceleration rate configured for this stepper
+    /// that was previously set by setAcceleration();
+    /// \return The currently configured acceleration/deceleration
+    float   acceleration();
+
     /// Sets the desired constant speed for use with runSpeed().
     /// \param[in] speed The desired constant speed in steps per
     /// second. Positive is clockwise. Speeds of more than 1000 steps per
@@ -476,7 +489,10 @@ class AccelStepper
     /// position. Dont use this in event loops, since it blocks.
     void    runToPosition();
 
-    /// Runs at the currently selected speed until the target position is reached.
+    /// Executes runSpeed() unless the targetPosition is reached.
+    /// This function needs to be called often just like runSpeed() or run().
+    /// Will step the motor if a step is required at the currently selected
+    /// speed unless the target position has been reached.
     /// Does not implement accelerations.
     /// \return true if it stepped
     boolean runSpeedToPosition();
@@ -538,6 +554,8 @@ class AccelStepper
     /// \return true if the speed is not zero or not at the target position
     bool    isRunning();
 
+    /// Virtual destructor to prevent warnings during delete
+    virtual ~AccelStepper() {};
 protected:
 
     /// \brief Direction indicator
@@ -556,7 +574,8 @@ class AccelStepper
     /// \li  after change to acceleration through setAcceleration()
     /// \li  after change to target position (relative or absolute) through
     /// move() or moveTo()
-    void           computeNewSpeed();
+    /// \return the new step interval
+    virtual unsigned long  computeNewSpeed();
 
     /// Low level function to set the motor output pins
     /// bit 0 of the mask corresponds to _pin[0]
@@ -571,6 +590,16 @@ class AccelStepper
     /// number of pins defined for the stepper.
     /// \param[in] step The current step phase number (0 to 7)
     virtual void   step(long step);
+
+    /// Called to execute a clockwise(+) step. Only called when a new step is
+    /// required. This increments the _currentPos and calls step()
+    /// \return the updated current position
+    long   stepForward();
+
+    /// Called to execute a counter-clockwise(-) step. Only called when a new step is
+    /// required. This decrements the _currentPos and calls step()
+    /// \return the updated current position
+    long   stepBackward();
 
     /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
     /// required. Calls _forward() or _backward() to perform the step
@@ -612,7 +641,7 @@ class AccelStepper
     /// \param[in] step The current step phase number (0 to 7)
     virtual void   step6(long step);
 
-    /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is
+    /// Called to execute a step on a 4 pin half-stepper motor. Only called when a new step is
     /// required. Subclasses may override to implement new stepping
     /// interfaces. The default sets or clears the outputs of pin1, pin2,
     /// pin3, pin4.
@@ -623,6 +652,10 @@ class AccelStepper
     /// Protected because some peoples subclasses need it to be so
     boolean _direction; // 1 == CW
 
+    /// The current interval between steps in microseconds.
+    /// 0 means the motor is currently stopped with _speed == 0
+    unsigned long  _stepInterval;
+
 private:
     /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
     /// bipolar, and 4 pins is a unipolar.
@@ -655,10 +688,6 @@ class AccelStepper
     float          _acceleration;
     float          _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
 
-    /// The current interval between steps in microseconds.
-    /// 0 means the motor is currently stopped with _speed == 0
-    unsigned long  _stepInterval;
-
     /// The last step time in microseconds
     unsigned long  _lastStepTime;
 
@@ -695,9 +724,6 @@ class AccelStepper
     /// Min step size in microseconds based on maxSpeed
     float _cmin; // at max speed
 
-    // EX-Turntable modification: add extra flag to enable automatic inversion of two wire drivers at instantiation.
-    bool _invert;
-
 };
 
 /// @example Random.pde

EEPROMFunctions.cpp

@@ -19,6 +19,7 @@
 
 #include "EEPROMFunctions.h"
 #include <EEPROM.h>
+#include "IOFunctions.h"
 
 char eepromFlag[4] = {'T', 'T', 'E', 'X'};          // EEPROM location 0 to 3 should contain TTEX if we have stored steps.
 const uint8_t eepromVersion = EEPROM_VERSION;       // Version of stored EEPROM data to invalidate stored steps if config changes.
@@ -46,23 +47,23 @@ long getSteps() {
   if (stepsSet) {
     eepromSteps = ((long)EEPROM.read(5) << 24) + ((long)EEPROM.read(6) << 16) + ((long)EEPROM.read(7) << 8) + (long)EEPROM.read(8);
     if (eepromSteps <= sanitySteps) {
-#ifdef DEBUG
-      Serial.print(F("DEBUG: TTEX steps defined in EEPROM: "));
-      Serial.println(eepromSteps);
-#endif
+      if (debug) {
+        Serial.print(F("DEBUG: TTEX steps defined in EEPROM: "));
+        Serial.println(eepromSteps);
+      }
       return eepromSteps;
     } else {
-#ifdef DEBUG
-      Serial.print(F("DEBUG: TTEX steps defined in EEPROM are invalid: "));
-      Serial.println(eepromSteps);
-#endif
+      if (debug) {
+        Serial.print(F("DEBUG: TTEX steps defined in EEPROM are invalid: "));
+        Serial.println(eepromSteps);
+      }
       calibrating = true;
       return 0;
     }
   } else {
-#ifdef DEBUG
-    Serial.println(F("DEBUG: TTEX steps not defined in EEPROM"));
-#endif
+    if (debug) {
+      Serial.println(F("DEBUG: TTEX steps not defined in EEPROM"));
+    }
     calibrating = true;
     return 0;
   }