ELEC 514
/
CoilingRigV16
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Dependencies: mbed mbed-rtos TextLCD
Diff: STEPPER_MOTOR.cpp
- Revision:
- 12:d9c133b360b0
- Child:
- 14:63998be3d43c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/STEPPER_MOTOR.cpp Tue Feb 05 16:20:32 2019 +0000
@@ -0,0 +1,286 @@
+#include "mbed.h" //Include the mbed libraries
+#include "STEPPER_MOTOR.hpp" //Include the header file, this acts like a series of forward declarations
+
+//Constructor
+STEPPER_MOTOR::STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4) : pin1(N1),pin2(N2),pin3(N3),pin4(N4)
+{
+ _dir = true;
+ _step = 0;
+}
+
+STEPPER_MOTOR::~STEPPER_MOTOR(){} //Destructor
+
+void STEPPER_MOTOR::Rotate_Steps(int Steps)
+{
+ #define STIME 1000
+
+ Steps = Steps*50;
+ //int correctionfactor;
+ //int timeofturn=correctinfactor*speed;
+
+ int mystep=0;
+ printf("START!!! step value is=%d\n\r",mystep);
+ for(int x =0 ; x <= Steps; x++)
+ {
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); // debugging feedback
+ // phase pulse order
+ this->pin1 = 0;
+ this->pin2 = 1;
+ this->pin3 = 0;
+ this->pin4 = 1;
+ mystep=1;
+ wait_us(1000);
+
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 0;
+ this->pin2 = 1;
+ this->pin3 = 1;
+ this->pin4 = 0;
+ mystep=2;
+ wait_us(1000);
+
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 1;
+ this->pin4 = 0;
+ mystep=3;
+ wait_us(1000);
+
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 1;
+ mystep=4;
+ wait_us(1000);;
+
+ /* printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 0;
+ this->pin2 = 1;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=5;
+ wait_ms(0.6);
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 1;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=6;
+ wait_ms(0.6);
+ printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=7;
+ wait_ms(0.6);
+
+ this->pin1 = 1;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 1;
+ mystep=0;
+ wait_ms(0.6);
+
+ this->pin1 = 0;
+ this->pin2 = 0;
+ this->pin3 = 0;
+ this->pin4 = 0;
+ mystep=0;
+ wait_ms(0.6);*/
+ }
+}
+
+ /*
+ switch(mystep){
+ case 0:{
+
+ break;
+ case 1:{
+
+ break;
+ case 2:
+
+ break;
+ case 3:
+
+ break;
+ case 4:
+
+ break;
+ case 5:
+
+ break;
+ case 6:
+
+ break;
+ case 7:
+
+ break;
+ default:
+
+ break;
+ }
+
+ if(_dir){
+ _step++;
+ }else{
+ _step--;
+ }
+ if(_step>7){
+ _step=0;
+ }
+ if(_step<0){
+ _step=7;
+ }
+ */
+ //wait_ms(1);
+
+
+void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
+{
+ switch(_step){
+ case 0:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ case 1:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 1;
+ break;
+ case 2:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 3:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 4:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 5:
+ pin1 = 1;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 6:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 7:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ default:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ }
+ if(_dir){
+ _step++;
+ }else{
+ _step--;
+ }
+ if(_step>7){
+ _step=0;
+ }
+ if(_step<0){
+ _step=7;
+ }
+}
+
+void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
+{
+
+ //Rotate
+ switch(_step){
+ case 0:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ case 1:
+ pin1 = 1;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 2:
+ pin1 = 1;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 3:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ case 4:
+ pin1 = 0;
+ pin2 = 1;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 5:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 0;
+ break;
+ case 6:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 1;
+ pin4 = 1;
+ break;
+ case 7:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 1;
+ break;
+ default:
+ pin1 = 0;
+ pin2 = 0;
+ pin3 = 0;
+ pin4 = 0;
+ break;
+ }
+ if(_dir){
+ _step++;
+ }else{
+ _step--;
+ }
+ if(_step>7){
+ _step=0;
+ }
+ if(_step<0){
+ _step=7;
+ }
+ //wait_ms(1);
+}
+
\ No newline at end of file