Dagozilla to RoboCup / StepperTB

Stepper dengan driver TB6600 Microstep Driver

Dependents:   StepperTB_Example Lowlevel_function

StepperTB.h@0:7902453bcfef, 2018-10-24 (annotated)

Committer:
irfantitok
Date:
Wed Oct 24 16:15:53 2018 +0000
Revision:
0:7902453bcfef
Child:
2:787cee5a8dad
Initial Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
irfantitok 0:7902453bcfef 1 #ifndef STEPPERTB_H
irfantitok 0:7902453bcfef 2 #define STEPPERTB_H
irfantitok 0:7902453bcfef 3
irfantitok 0:7902453bcfef 4 #include "mbed.h"
irfantitok 0:7902453bcfef 5
irfantitok 0:7902453bcfef 6 class StepperTB {
irfantitok 0:7902453bcfef 7 public:
irfantitok 0:7902453bcfef 8 /*Parameterized CTOR
irfantitok 0:7902453bcfef 9 *ENA = ENA-
irfantitok 0:7902453bcfef 10 *DIR = DIR-
irfantitok 0:7902453bcfef 11 *PUL = PUL-
irfantitok 0:7902453bcfef 12 *Microstep = jumlah microstep dalam 1 step
irfantitok 0:7902453bcfef 13 *StepPerRev = jumlah step dalam 1 putaran
irfantitok 0:7902453bcfef 14 */
irfantitok 0:7902453bcfef 15 StepperTB(PinName ENA, PinName DIR, PinName PUL, int Microstep, int StepPerRev);
irfantitok 0:7902453bcfef 16
irfantitok 0:7902453bcfef 17 /*Method*/
irfantitok 0:7902453bcfef 18 /*MoveStep
irfantitok 0:7902453bcfef 19 *Gerakkan stepper sebanyak StepAmt step dengan
irfantitok 0:7902453bcfef 20 *Selang waktu antar microstep selama Interval (dalam us)
irfantitok 0:7902453bcfef 21 */
irfantitok 0:7902453bcfef 22 void MoveStep(int StepAmt, int Interval);
irfantitok 0:7902453bcfef 23
irfantitok 0:7902453bcfef 24 /*MoveRev
irfantitok 0:7902453bcfef 25 *Gerakkan stepper sejauh RevAmt putaran dengan
irfantitok 0:7902453bcfef 26 *Selang waktu antar microstep selama Interval (dalam us)
irfantitok 0:7902453bcfef 27 */
irfantitok 0:7902453bcfef 28 void MoveRev(int RevAmt, int Interval);
irfantitok 0:7902453bcfef 29
irfantitok 0:7902453bcfef 30 //Getter
irfantitok 0:7902453bcfef 31 //StepPerRev
irfantitok 0:7902453bcfef 32 int getSPR();
irfantitok 0:7902453bcfef 33 //Microstep
irfantitok 0:7902453bcfef 34 int getMstep();
irfantitok 0:7902453bcfef 35
irfantitok 0:7902453bcfef 36 private:
irfantitok 0:7902453bcfef 37 //Pins
irfantitok 0:7902453bcfef 38 DigitalOut ENA_;
irfantitok 0:7902453bcfef 39 DigitalOut DIR_;
irfantitok 0:7902453bcfef 40 DigitalOut PUL_;
irfantitok 0:7902453bcfef 41
irfantitok 0:7902453bcfef 42 int Microstep_;
irfantitok 0:7902453bcfef 43 int StepPerRev_;
irfantitok 0:7902453bcfef 44
irfantitok 0:7902453bcfef 45 };
irfantitok 0:7902453bcfef 46
irfantitok 0:7902453bcfef 47 #endif