Diff: main.cpp

Revision:

1:d30c9dbba3f2

Parent:

0:a8de23e49ba2

--- a/main.cpp	Sun Mar 22 14:01:50 2015 +0000
+++ b/main.cpp	Sun Apr 26 17:14:24 2015 +0000
@@ -25,7 +25,11 @@
 int state = 1;
 float stepFreq = 5;
 int accelerationMode = 0;  //0 - no acceleration, 1 - accelerating, 2 - decelerating
-int position = 1;
+int position = 0;
+int posArray[4][8] = {1,1,0,0,0,0,0,1,
+                      0,1,1,1,0,0,0,0,
+                      0,0,0,1,1,1,0,0,
+                      0,0,0,0,0,1,1,1};
 
 //mbed - initialization of peripherals
 DigitalOut  my_led(LED1);
@@ -166,57 +170,11 @@
 * Output         : none.
 * Return         : none.
 *******************************************************************************/
-void halfStep(int position) {  //Alternating between one powered coil and two adjacent powered coils.
-     switch(position){
-        case 1 :
-            out1.write(1);
-            out2.write(0);
-            out3.write(0);
-            out4.write(0);
-            break;
-        case 2 :
-            out1.write(1);
-            out2.write(1);
-            out3.write(0);
-            out4.write(0);
-            break;
-        case 3 :
-            out1.write(0);
-            out2.write(1);
-            out3.write(0);
-            out4.write(0);
-            break;
-        case 4 :
-            out1.write(0);
-            out2.write(1);
-            out3.write(1);
-            out4.write(0);
-            break;
-        case 5 :
-            out1.write(0);
-            out2.write(0);
-            out3.write(1);
-            out4.write(0);
-            break;
-        case 6 :
-            out1.write(0);
-            out2.write(0);
-            out3.write(1);
-            out4.write(1);
-            break;
-        case 7 :
-            out1.write(0);
-            out2.write(0);
-            out3.write(0);
-            out4.write(1);
-            break;
-        case 8 :
-            out1.write(1);
-            out2.write(0);
-            out3.write(0);
-            out4.write(1);
-            break;       
-    }   
+void halfStep(int position) {  //Alternating between one powered coil and two adjacent coils.
+    out1.write(posArray[0][position]);
+    out2.write(posArray[1][position]);
+    out3.write(posArray[2][position]);
+    out4.write(posArray[3][position]);         
 }
 
 /*******************************************************************************
@@ -234,8 +192,8 @@
     while (1) {     //Infinite while loop
         if(running == true) {
             halfStep(position);
-            position = increment(position , direction, 8);
-            my_led = !my_led;
+            position = increment(position , direction, 7);
+            my_led = !my_led;   //Signaliyation of stepping.
         }
         if(accelerationMode == 1 && stepFreq < 500) {
             wait(0.05); //For better control over acceleration