ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

StepperMotor/Stepper.cpp@96:1e91cac784fe, 2016-05-06 (annotated)

Committer:
IceTeam
Date:
Fri May 06 21:21:49 2016 +0000
Revision:
96:1e91cac784fe
Parent:
93:c0b040954eac 
Coucou vers ordi de simon

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 92:f09f55aa992b 1 #include "Stepper.h"
IceTeam 93:c0b040954eac 2 // ID AX12 : 3 et 1
IceTeam 92:f09f55aa992b 3 Stepper::Stepper(PinName _en, PinName _stepPin, PinName _dir, PinName _minEndStop, float step_per_mm):en(_en),
IceTeam 92:f09f55aa992b 4 stepPin(_stepPin),
IceTeam 92:f09f55aa992b 5 direction(_dir),
IceTeam 92:f09f55aa992b 6 minEndStop(_minEndStop)
IceTeam 92:f09f55aa992b 7 {
IceTeam 92:f09f55aa992b 8 Step_Per_MM = step_per_mm;
IceTeam 92:f09f55aa992b 9 }
IceTeam 92:f09f55aa992b 10
IceTeam 92:f09f55aa992b 11 bool Stepper::step(int _number, int _dir, float _speed, bool _async)
IceTeam 92:f09f55aa992b 12 {
IceTeam 92:f09f55aa992b 13 if(done())
IceTeam 92:f09f55aa992b 14 {
IceTeam 92:f09f55aa992b 15 dir = _dir;
IceTeam 92:f09f55aa992b 16 number = _number;
IceTeam 92:f09f55aa992b 17 speed = _speed;
IceTeam 92:f09f55aa992b 18 async = _async;
IceTeam 92:f09f55aa992b 19
IceTeam 92:f09f55aa992b 20 if (dir == HAUT)
IceTeam 92:f09f55aa992b 21 direction = 0;
IceTeam 92:f09f55aa992b 22 else if (dir == BAS)
IceTeam 92:f09f55aa992b 23 direction = 1;
IceTeam 92:f09f55aa992b 24
IceTeam 92:f09f55aa992b 25 ticker.attach(this,&Stepper::tick,_speed);
IceTeam 92:f09f55aa992b 26 if(!_async)
IceTeam 92:f09f55aa992b 27 while(!done())
IceTeam 92:f09f55aa992b 28 wait(speed);
IceTeam 92:f09f55aa992b 29
IceTeam 92:f09f55aa992b 30 return true;
IceTeam 92:f09f55aa992b 31 }
IceTeam 92:f09f55aa992b 32
IceTeam 92:f09f55aa992b 33 return false;
IceTeam 92:f09f55aa992b 34
IceTeam 92:f09f55aa992b 35
IceTeam 92:f09f55aa992b 36
IceTeam 92:f09f55aa992b 37 /* Step...
IceTeam 92:f09f55aa992b 38 for(int i=0; i<number && !(minEndStop.read() == 0 && dir == BAS); i++)
IceTeam 92:f09f55aa992b 39 {
IceTeam 92:f09f55aa992b 40 stepPin = 1;
IceTeam 92:f09f55aa992b 41 wait_us(5);
IceTeam 92:f09f55aa992b 42 stepPin = 0;
IceTeam 92:f09f55aa992b 43 wait_us(5);
IceTeam 92:f09f55aa992b 44 wait(speed);
IceTeam 92:f09f55aa992b 45 }*/
IceTeam 92:f09f55aa992b 46 }
IceTeam 92:f09f55aa992b 47
IceTeam 92:f09f55aa992b 48 bool Stepper::mm(int _number, int _dir, bool _async)
IceTeam 92:f09f55aa992b 49 {
IceTeam 92:f09f55aa992b 50 return step(_number*Step_Per_MM, _dir, DELAY-0.001, _async);
IceTeam 92:f09f55aa992b 51 }
IceTeam 92:f09f55aa992b 52
IceTeam 92:f09f55aa992b 53 bool Stepper::mm(float _distance, bool _async)
IceTeam 92:f09f55aa992b 54 {
IceTeam 92:f09f55aa992b 55 return step(abs(_distance)*Step_Per_MM, (_distance>0?HAUT:BAS), DELAY-0.001, _async);
IceTeam 92:f09f55aa992b 56 }
IceTeam 92:f09f55aa992b 57
IceTeam 92:f09f55aa992b 58 bool Stepper::done()
IceTeam 92:f09f55aa992b 59 {
IceTeam 92:f09f55aa992b 60 return number == 0;
IceTeam 92:f09f55aa992b 61 }
IceTeam 92:f09f55aa992b 62
IceTeam 92:f09f55aa992b 63 void Stepper::tick()
IceTeam 92:f09f55aa992b 64 {
IceTeam 92:f09f55aa992b 65 stepPin = 1;
IceTeam 92:f09f55aa992b 66 wait_us(5);
IceTeam 92:f09f55aa992b 67 stepPin = 0;
IceTeam 92:f09f55aa992b 68
IceTeam 92:f09f55aa992b 69 number--;
IceTeam 92:f09f55aa992b 70
IceTeam 92:f09f55aa992b 71 if(number <= 0 || (minEndStop.read() == 0 && dir == BAS))
IceTeam 92:f09f55aa992b 72 {
IceTeam 92:f09f55aa992b 73 ticker.detach();
IceTeam 92:f09f55aa992b 74 number = 0;
IceTeam 92:f09f55aa992b 75 }
IceTeam 92:f09f55aa992b 76 }
IceTeam 92:f09f55aa992b 77
IceTeam 92:f09f55aa992b 78
IceTeam 92:f09f55aa992b 79 void Stepper::enable()
IceTeam 92:f09f55aa992b 80 {
IceTeam 92:f09f55aa992b 81 en = 0;
IceTeam 92:f09f55aa992b 82 }
IceTeam 92:f09f55aa992b 83
IceTeam 92:f09f55aa992b 84 void Stepper::disable()
IceTeam 92:f09f55aa992b 85 {
IceTeam 92:f09f55aa992b 86 en = 1;
IceTeam 92:f09f55aa992b 87 }