Diff: stepper.cpp

Revision:

20:d23bcd97f2c5

Parent:

18:0e281922212c

Child:

21:88f9f280931b

--- a/stepper.cpp	Fri Mar 02 22:20:43 2018 +0000
+++ b/stepper.cpp	Tue Mar 06 17:25:48 2018 +0000
@@ -18,16 +18,19 @@
 #include "stepper.h"
 
 DigitalOut stp_ncs(STP_DRV8806_NCS);
+DigitalIn jog_ccw(D4);
+DigitalIn jog_cw(D5);
+
+int stp_cur_pos;
+int stp_sensor_pos[NUM_SENSORS + 1];
 
 extern spi_cfg drv8806 {
     SPI_DRV8806_ID,
     STP_DRV8806_NCS,
-    0,
-    1000000,
-    8,
+    DRV8806_SPI_MODE,
+    DRV8806_SPI_FREQ,
+    DRV8806_SPI_NO_BITS,
 };
-int stp_cur_pos;
-int stp_sensor_pos[NUM_SENSORS + 1] 
 
 /*
  * void stp_init();
@@ -41,7 +44,7 @@
  *      Returns: void
 */
 void stp_init() {
-    stp_cur_pos = STP_POS_UNKN
+    stp_cur_pos = STP_POS_UNKN;
     for (int i = 1; i <= NUM_SENSORS; i++) {
         stp_sensor_pos[i] = STP_POS_UNKN;
     }
@@ -60,5 +63,18 @@
  *      Returns: void
 */
 void stp_step(int direction) {
+    jog_cw.mode(PullUp);
+    jog_ccw.mode(PullUp);
+    
+    //static int cur_pos = stp_cur_pos;
+    static int turn[4] = {0x03, 0x06, 0x0c, 0x09};
+    if (direction == STP_CW) {
+        for (int i = 0; i < 4; i++)
+            spi_send(drv8806, turn[i]);
+    }
+    else if (direction == STP_CCW) {
+        for (int i = 3; i >= 0; i--)
+            spi_send(drv8806, turn[i]);
+    }
     
 }
\ No newline at end of file