StepperMotor.h

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#ifndef StepperMotor_h
#define StepperMotor_h
 
#include "Arduino.h"
#include "common/base_classes/FOCMotor.h"
#include "common/base_classes/StepperDriver.h"
#include "common/base_classes/Sensor.h"
#include "common/foc_utils.h"
#include "common/time_utils.h"
#include "common/defaults.h"
 
class StepperMotor: public FOCMotor
{
  public:
    StepperMotor(int pp,  float R = NOT_SET);
 
    void linkDriver(StepperDriver* driver);
 
    StepperDriver* driver; 
 
   void init() override;
   void disable() override;
    void enable() override;
 
    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
    void loopFOC() override;
    void move(float target = NOT_SET) override;
    
    float Ualpha,Ubeta; 
 
  private:
  
    // FOC methods 
    void setPhaseVoltage(float Uq, float Ud , float angle_el);
 
    int alignSensor();
    int absoluteZeroSearch();
        
    // Open loop motion control    
    float velocityOpenloop(float target_velocity);
    float angleOpenloop(float target_angle);
    // open loop variables
    long open_loop_timestamp;
};
 
 
#endif