GroupA
/
WaG_final
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Dependencies: mbed
stepper.cpp@18:0e281922212c, 2018-03-02 (annotated)
- Committer:
- spm71
- Date:
- Fri Mar 02 22:18:47 2018 +0000
- Revision:
- 18:0e281922212c
- Child:
- 20:d23bcd97f2c5
More implementation on SPI and started stepper files.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| spm71 | 18:0e281922212c | 1 | /****************************************************************************** |
| spm71 | 18:0e281922212c | 2 | * EECS 397 |
| spm71 | 18:0e281922212c | 3 | * |
| spm71 | 18:0e281922212c | 4 | * Assignment Name: Lab 5: WaG |
| spm71 | 18:0e281922212c | 5 | * |
| spm71 | 18:0e281922212c | 6 | * Authors: Sam Morrison and Phong Nguyen |
| spm71 | 18:0e281922212c | 7 | * File name: stepper.cpp |
| spm71 | 18:0e281922212c | 8 | * Purpose: Driver for stepper motor |
| spm71 | 18:0e281922212c | 9 | * |
| spm71 | 18:0e281922212c | 10 | * Created: 03/02/2018 |
| spm71 | 18:0e281922212c | 11 | * Last Modified: 03/02/2018 |
| spm71 | 18:0e281922212c | 12 | * |
| spm71 | 18:0e281922212c | 13 | ******************************************************************************/ |
| spm71 | 18:0e281922212c | 14 | |
| spm71 | 18:0e281922212c | 15 | #include "mbed.h" |
| spm71 | 18:0e281922212c | 16 | #include "io_pins.h" |
| spm71 | 18:0e281922212c | 17 | #include "spi.h" |
| spm71 | 18:0e281922212c | 18 | #include "stepper.h" |
| spm71 | 18:0e281922212c | 19 | |
| spm71 | 18:0e281922212c | 20 | DigitalOut stp_ncs(STP_DRV8806_NCS); |
| spm71 | 18:0e281922212c | 21 | |
| spm71 | 18:0e281922212c | 22 | extern spi_cfg drv8806 { |
| spm71 | 18:0e281922212c | 23 | SPI_DRV8806_ID, |
| spm71 | 18:0e281922212c | 24 | STP_DRV8806_NCS, |
| spm71 | 18:0e281922212c | 25 | 0, |
| spm71 | 18:0e281922212c | 26 | 1000000, |
| spm71 | 18:0e281922212c | 27 | 8, |
| spm71 | 18:0e281922212c | 28 | }; |
| spm71 | 18:0e281922212c | 29 | int stp_cur_pos; |
| spm71 | 18:0e281922212c | 30 | int stp_sensor_pos[NUM_SENSORS + 1] |
| spm71 | 18:0e281922212c | 31 | |
| spm71 | 18:0e281922212c | 32 | /* |
| spm71 | 18:0e281922212c | 33 | * void stp_init(); |
| spm71 | 18:0e281922212c | 34 | * Description: initializes stepper values to unkown |
| spm71 | 18:0e281922212c | 35 | * |
| spm71 | 18:0e281922212c | 36 | * Inputs: |
| spm71 | 18:0e281922212c | 37 | * Parameters: void |
| spm71 | 18:0e281922212c | 38 | * Globals: |
| spm71 | 18:0e281922212c | 39 | * |
| spm71 | 18:0e281922212c | 40 | * Outputs: |
| spm71 | 18:0e281922212c | 41 | * Returns: void |
| spm71 | 18:0e281922212c | 42 | */ |
| spm71 | 18:0e281922212c | 43 | void stp_init() { |
| spm71 | 18:0e281922212c | 44 | stp_cur_pos = STP_POS_UNKN |
| spm71 | 18:0e281922212c | 45 | for (int i = 1; i <= NUM_SENSORS; i++) { |
| spm71 | 18:0e281922212c | 46 | stp_sensor_pos[i] = STP_POS_UNKN; |
| spm71 | 18:0e281922212c | 47 | } |
| spm71 | 18:0e281922212c | 48 | } |
| spm71 | 18:0e281922212c | 49 | |
| spm71 | 18:0e281922212c | 50 | /* |
| spm71 | 18:0e281922212c | 51 | * void stp_step(int direction); |
| spm71 | 18:0e281922212c | 52 | * Description: turns the stepper motor clockwise or counter-clockwise |
| spm71 | 18:0e281922212c | 53 | * |
| spm71 | 18:0e281922212c | 54 | * Inputs: |
| spm71 | 18:0e281922212c | 55 | * Parameters: |
| spm71 | 18:0e281922212c | 56 | * int direction |
| spm71 | 18:0e281922212c | 57 | * Globals: |
| spm71 | 18:0e281922212c | 58 | * |
| spm71 | 18:0e281922212c | 59 | * Outputs: |
| spm71 | 18:0e281922212c | 60 | * Returns: void |
| spm71 | 18:0e281922212c | 61 | */ |
| spm71 | 18:0e281922212c | 62 | void stp_step(int direction) { |
| spm71 | 18:0e281922212c | 63 | |
| spm71 | 18:0e281922212c | 64 | } |