Diff: stepper.cpp

Revision:

52:8987e38851e5

Parent:

51:1eb60f0d2f03

Child:

53:389fe53b2642

diff -r 1eb60f0d2f03 -r 8987e38851e5 stepper.cpp
--- a/stepper.cpp	Tue Apr 03 20:51:20 2018 +0000
+++ b/stepper.cpp	Tue Apr 03 22:32:41 2018 +0000
@@ -28,9 +28,9 @@
 extern DigitalIn home_sensor;
 extern Serial pc;
 extern DigitalOut laser;
+extern int stp_sensor_pos[TGT_SENSOR_QUAN];
 
 int stp_cur_pos = STP_POS_UNKN;
-int stp_sensor_pos[TGT_SENSOR_QUAN];
 
 extern spi_cfg drv8806 {
     SPI_DRV8806_ID,
@@ -87,7 +87,7 @@
                 }
         }
         else {
-            pc.printf("Cannot turn past maximum position. Fatal error.\n");
+            pc.printf("Error: Cannot turn past maximum position. See stp_step() function.\n");
             while(1);
         }
         
@@ -106,7 +106,7 @@
                 stp_cur_pos--;
         }
         else {
-            pc.printf("Cannot turn past home position.\n");
+            pc.printf("Error: Cannot turn past home position. See stp_step() function.\n");
             wait(0.5);
             return;
         }
@@ -171,7 +171,7 @@
         for(int i = 0; i < 100; i++)
             stp_step(STP_CW);
         if (home_sensor == 0) {
-            pc.printf("Error, home sensor not functioning. Fatal error.\n", home_sensor.read());
+            pc.printf("Error: Home sensor not functioning. See stp_find_home() function.\n", home_sensor.read());
             while(1);
         }
     }
@@ -257,4 +257,43 @@
     for (int i = 0; i < TGT_SENSOR_QUAN; i++) {
         pc.printf("PT %d: %d  ", i, stp_sensor_pos[i]);     
     }    
+}
+
+/*
+ * void repeatability_test(itn sensor_position, int cal_status);
+ * Description: repeatability test in part 10 of lab 6. The function will point to laser to 
+ *              the location of the specified sensor_position arguemnt. The function will 
+ *              return error when the calibration status is NOT_CALIBRATED
+ *
+ * Inputs: 
+ *      Parameters:
+ *          int sensor_position: the position of sensor that the laser will point to (range from 0 to 15)
+ *          int cal_status: calibration status. 
+ *      Globals:
+ *      
+ * Outputs:
+ *      Returns: void
+*/
+void repeatability_test(int sensor_position, int cal_status) {
+    int num_steps = 0;      // number of steps the stepper motor needed to move from current position
+    
+    // if the system is not calibrated 
+    if (cal_status == NOT_CALIBRATED)
+        pc.printf("Error: The system is not calibrated. See repeatibility_test() function .\n");
+    else {
+        // if the current position is less than the position of sepcified sensor
+        if (stp_cur_pos < stp_sensor_pos[sensor_position]) {
+            num_steps = stp_sensor_pos[sensor_position] - stp_cur_pos;
+        
+            for (int i = 0; num_steps; i++) {
+                stp_step(STP_CW);    
+            }
+        } else {
+            num_steps = stp_cur_pos - stp_sensor_pos[sensor_position];
+        
+            for (int i = 0; num_steps; i++) {
+                stp_step(STP_CCW);    
+            }
+        }
+    }
 }
\ No newline at end of file