EECS 397 Lab Group / Mbed 2 deprecated WaG

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Dependencies:   mbed

Fork of display_nums2 by EECS 397 Lab Group

stepper.cpp@5:10c020b45c1f, 2018-04-02 (annotated)

Committer:
billymark
Date:
Mon Apr 02 20:49:10 2018 +0000
Revision:
5:10c020b45c1f
Parent:
4:a01cf485b9d9 
fasdjkfha;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
billymark 1:3d6796759d45 1 #include <io_pins.h>
billymark 1:3d6796759d45 2 #include <stepper.h>
billymark 1:3d6796759d45 3 #include <mbed.h>
billymark 1:3d6796759d45 4 #include <stdlib.h>
billymark 4:a01cf485b9d9 5 #include <spi_fix.h>
billymark 4:a01cf485b9d9 6
billymark 4:a01cf485b9d9 7
billymark 5:10c020b45c1f 8 Serial pc2(USBTX, USBRX);
billymark 4:a01cf485b9d9 9
billymark 4:a01cf485b9d9 10 spi_cfg DRV8806 = {
billymark 4:a01cf485b9d9 11 DRV8806_ID, //ID should be unique for each slave type
billymark 4:a01cf485b9d9 12 STP_DRV8806_NCS, //The pin driving the slave's chip select
billymark 1:3d6796759d45 13 DRV8806_MODE, //mode
billymark 1:3d6796759d45 14 DRV8806_FREQ, //frequency
billymark 4:a01cf485b9d9 15 DRV8806_BITS //num of bits
billymark 1:3d6796759d45 16
billymark 4:a01cf485b9d9 17 };
billymark 1:3d6796759d45 18 static int stepper_pos[4] = {0x03, 0x06, 0x0c, 0x09};
billymark 1:3d6796759d45 19 static int stp_index = 0;
billymark 1:3d6796759d45 20
billymark 1:3d6796759d45 21 void stp_init(){
billymark 4:a01cf485b9d9 22 spi_send(DRV8806, stepper_pos[stp_index]);
billymark 1:3d6796759d45 23
billymark 1:3d6796759d45 24 }
billymark 1:3d6796759d45 25 void stp_step(int direction){
billymark 1:3d6796759d45 26 if (direction == STP_CW){
billymark 1:3d6796759d45 27 if (stp_index<3){
billymark 1:3d6796759d45 28 stp_index+=1;
billymark 1:3d6796759d45 29 }
billymark 5:10c020b45c1f 30 else
billymark 5:10c020b45c1f 31 stp_index = 0;
billymark 5:10c020b45c1f 32 }
billymark 1:3d6796759d45 33 else if(direction == STP_CCW){
billymark 1:3d6796759d45 34 if (stp_index>0){
billymark 4:a01cf485b9d9 35 stp_index = stp_index-1;
billymark 1:3d6796759d45 36
billymark 1:3d6796759d45 37 }
billymark 1:3d6796759d45 38 else{
billymark 1:3d6796759d45 39 stp_index = 3;
billymark 1:3d6796759d45 40 }
billymark 5:10c020b45c1f 41
billymark 5:10c020b45c1f 42
billymark 1:3d6796759d45 43
billymark 1:3d6796759d45 44
billymark 1:3d6796759d45 45 }
billymark 5:10c020b45c1f 46 pc2.printf("%d \n", stepper_pos[stp_index]);
billymark 5:10c020b45c1f 47 spi_send(DRV8806, stepper_pos[stp_index]);
billymark 1:3d6796759d45 48
billymark 1:3d6796759d45 49 }
billymark 1:3d6796759d45 50