API change stepperdriver2pwm

Author: askuric

examples/hardware_specific_examples/Smart_Stepper/smartstepper_control/smartstepper_control.ino

@@ -0,0 +1,61 @@
+/**
+ * Smart Stepper support with SimpleFOClibrary
+ */
+#include <SimpleFOC.h>
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, A2);
+
+// Stepper motor & driver instance
+StepperMotor motor = StepperMotor(50);
+int in1[2] = {5, 6};
+int in2[2] = {A4, 7};
+StepperDriver2PWM driver = StepperDriver2PWM(4, in1, 9, in2);
+
+// instantiate the commander
+Commander command = Commander(SerialUSB);
+void doMotor(char* cmd) { command.motor(&motor, cmd); }
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage
+  driver.voltage_power_supply = 12;
+  driver.init();
+  motor.linkDriver(&driver);
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with SerialUSB 
+  SerialUSB.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(SerialUSB);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command M
+  command.add('M', doMotor, "my motor");
+
+  SerialUSB.println(F("Motor ready."));
+  SerialUSB.println(F("Set the target voltage using Serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  motor.loopFOC();
+
+  // Motion control function
+  motor.move();
+  
+  // user communication
+  command.run();
+}

examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino

@@ -3,8 +3,10 @@
 
 
 // Stepper driver instance
-// StepperDriver2PWM(pwm1, in1a, in1b, pwm2, in2a, in2b, (en1, en2 optional))
-StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 10 , 9 , 8 , 11, 12);
+// StepperDriver2PWM(pwm1, in1, pwm2, in2, (en1, en2 optional))
+int in1[] = {4,5};
+int in2[] = {9,8};
+StepperDriver2PWM driver = StepperDriver2PWM(3, in1, 10 , in2, 11, 12);
 
 // StepperDriver2PWM(pwm1, dir1, pwm2, dir2,(en1, en2 optional))
 // StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 6, 11, 12);

src/drivers/StepperDriver2PWM.cpp

@@ -1,13 +1,13 @@
 #include "StepperDriver2PWM.h"
 
-StepperDriver2PWM::StepperDriver2PWM(int _pwm1, int _in1a, int _in1b, int _pwm2, int _in2a, int _in2b, int en1, int en2){
+StepperDriver2PWM::StepperDriver2PWM(int _pwm1, int* _in1, int _pwm2, int* _in2, int en1, int en2){
   // Pin initialization
   pwm1 = _pwm1; // phase 1 pwm pin number
-  dir1a = _in1a; // phase 1 INA pin number
-  dir1b = _in1b; // phase 1 INB pin number
+  dir1a = _in1[0]; // phase 1 INA pin number
+  dir1b = _in1[1]; // phase 1 INB pin number
   pwm2 = _pwm2; // phase 2 pwm pin number
-  dir2a = _in2a; // phase 2 INA pin number
-  dir2b = _in2b; // phase 2 INB pin number
+  dir2a = _in2[0]; // phase 2 INA pin number
+  dir2b = _in2[1]; // phase 2 INB pin number
 
   // enable_pin pin
   enable_pin1 = en1;
@@ -94,10 +94,10 @@ void StepperDriver2PWM::setPwm(float Ua, float Ub) {
 
   // phase 1 direction
   digitalWrite(dir1a, Ua >= 0 ? LOW : HIGH);
-  if( _isset(dir1b) ) digitalWrite(dir1b, Ua <= 0 ? LOW : HIGH);
+  if( _isset(dir1b) ) digitalWrite(dir1b, Ua >= 0 ? HIGH : LOW );
   // phase 2 direction
   digitalWrite(dir2a, Ub >= 0 ? LOW : HIGH);
-  if( _isset(dir2b) ) digitalWrite(dir2b, Ub <= 0 ? LOW : HIGH);
+  if( _isset(dir2b) ) digitalWrite(dir2b, Ub >= 0 ? HIGH : LOW );
 
   // write to hardware
   _writeDutyCycle2PWM(duty_cycle1, duty_cycle2, pwm1, pwm2);

src/drivers/StepperDriver2PWM.h

@@ -16,15 +16,13 @@ class StepperDriver2PWM: public StepperDriver
     /**
       StepperMotor class constructor
       @param pwm1  PWM1 phase pwm pin
-      @param in1a  IN1A phase dir pin
-      @param in1b  IN1B phase dir pin
+      @param in1   IN1A phase dir pin
       @param pwm2  PWM2 phase pwm pin
-      @param in2a  IN2A phase dir pin
-      @param in2b  IN2B phase dir pin
+      @param in2   IN2A phase dir 
       @param en1 enable pin phase 1 (optional input)
       @param en2 enable pin phase 2 (optional input)
     */
-    StepperDriver2PWM(int pwm1, int in1a, int in1b, int pwm2, int in2a, int in2b, int en1 = NOT_SET, int en2 = NOT_SET);
+    StepperDriver2PWM(int pwm1, int* in1, int pwm2, int* in2, int en1 = NOT_SET, int en2 = NOT_SET);
 
     /**
       StepperMotor class constructor