Diff: StepperMotor/Stepper.cpp

Revision:

92:f09f55aa992b

Child:

93:c0b040954eac

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperMotor/Stepper.cpp	Fri May 06 15:25:21 2016 +0000
@@ -0,0 +1,89 @@
+#include "defines.h"
+#include "Stepper.h"
+#include "mbed.h"
+
+Stepper::Stepper(PinName _en, PinName _stepPin, PinName _dir, PinName _minEndStop, float step_per_mm):en(_en),
+    stepPin(_stepPin),
+    direction(_dir),
+    minEndStop(_minEndStop)
+{
+    Step_Per_MM = step_per_mm;
+}
+
+bool Stepper::step(int _number, int _dir, float _speed, bool _async)
+{
+    if(done())
+    {
+        dir = _dir;
+        number = _number;
+        speed = _speed;
+        async = _async;
+        
+        if (dir == HAUT)
+            direction = 0;
+        else if (dir == BAS)
+            direction = 1;
+        
+        ticker.attach(this,&Stepper::tick,_speed);
+        if(!_async)
+            while(!done())
+                wait(speed);
+        
+        return true;
+    }
+    
+    return false;
+    
+    
+    
+    /*  Step...
+    for(int i=0; i<number && !(minEndStop.read() == 0 && dir == BAS); i++)
+    {
+        stepPin = 1;
+        wait_us(5);
+        stepPin = 0;
+        wait_us(5);
+        wait(speed);
+    }*/
+}
+
+bool Stepper::mm(int _number, int _dir, bool _async)
+{
+    return step(_number*Step_Per_MM, _dir, DELAY-0.001, _async);
+}
+
+bool Stepper::mm(float _distance, bool _async)
+{
+    return step(abs(_distance)*Step_Per_MM, (_distance>0?HAUT:BAS), DELAY-0.001, _async);
+}
+
+bool Stepper::done()
+{
+    return number == 0;
+}
+
+void Stepper::tick()
+{
+    stepPin = 1;
+    wait_us(5);
+    stepPin = 0;
+    
+    number--;
+    
+    if(number <= 0 || (minEndStop.read() == 0 && dir == BAS))
+    {
+        ticker.detach();
+        number = 0;
+    }
+}
+
+
+void Stepper::enable()
+{
+    en = 0;
+}
+
+void Stepper::disable()
+{
+    en = 1;
+}
\ No newline at end of file