lkdfjlakdjsflasdkjflkjasdlxkfghskjdmfnvcm,a wejdfkjadsb cvljdgacus;b faLRFBhetg;8bdvan;/IHgtnudihdgrg;a/wlhrfp;ouitdscagjh
Dependencies: mbed
Fork of display_nums2 by
stepper.cpp
- Committer:
- billymark
- Date:
- 2018-04-02
- Revision:
- 5:10c020b45c1f
- Parent:
- 4:a01cf485b9d9
File content as of revision 5:10c020b45c1f:
#include <io_pins.h> #include <stepper.h> #include <mbed.h> #include <stdlib.h> #include <spi_fix.h> Serial pc2(USBTX, USBRX); spi_cfg DRV8806 = { DRV8806_ID, //ID should be unique for each slave type STP_DRV8806_NCS, //The pin driving the slave's chip select DRV8806_MODE, //mode DRV8806_FREQ, //frequency DRV8806_BITS //num of bits }; static int stepper_pos[4] = {0x03, 0x06, 0x0c, 0x09}; static int stp_index = 0; void stp_init(){ spi_send(DRV8806, stepper_pos[stp_index]); } void stp_step(int direction){ if (direction == STP_CW){ if (stp_index<3){ stp_index+=1; } else stp_index = 0; } else if(direction == STP_CCW){ if (stp_index>0){ stp_index = stp_index-1; } else{ stp_index = 3; } } pc2.printf("%d \n", stepper_pos[stp_index]); spi_send(DRV8806, stepper_pos[stp_index]); }