HAN Solarboat / Mbed 2 deprecated CAN_module_stepper

steppermotor driver solar on foils

Dependencies:   mbed

Fork of CAN_module_stepper by Dannis Brugman

Stepper.cpp@2:951e20714a6b, 2015-12-10 (annotated)

Committer:
Dannis_mbed
Date:
Thu Dec 10 15:52:49 2015 +0000
Revision:
2:951e20714a6b
Parent:
1:239c8d704941 
Solarboat only

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Dannis_mbed 1:239c8d704941 1
Dannis_mbed 1:239c8d704941 2 #include "Stepper.h"
Dannis_mbed 1:239c8d704941 3
Dannis_mbed 1:239c8d704941 4 // Contructor
Dannis_mbed 1:239c8d704941 5 Stepper::Stepper() :
Dannis_mbed 1:239c8d704941 6 counter(0),
Dannis_mbed 1:239c8d704941 7 bRampUp(false),
Dannis_mbed 1:239c8d704941 8 bRampDown(false)
Dannis_mbed 1:239c8d704941 9 {};
Dannis_mbed 1:239c8d704941 10
Dannis_mbed 1:239c8d704941 11 Stepper::~Stepper()
Dannis_mbed 1:239c8d704941 12 {
Dannis_mbed 1:239c8d704941 13 };
Dannis_mbed 1:239c8d704941 14
Dannis_mbed 1:239c8d704941 15 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 16 // set's //
Dannis_mbed 1:239c8d704941 17 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 18 void Stepper::vSetStepCount(uint32_t Value)
Dannis_mbed 1:239c8d704941 19 {
Dannis_mbed 1:239c8d704941 20 if (Value <= 400) uiInitRampDown = Value/2;
Dannis_mbed 1:239c8d704941 21 else uiInitRampDown = 400;
Dannis_mbed 1:239c8d704941 22 counter = Value;
Dannis_mbed 1:239c8d704941 23 }
Dannis_mbed 1:239c8d704941 24
Dannis_mbed 1:239c8d704941 25 void Stepper::vSetOffTimeCount(uint32_t Value)
Dannis_mbed 1:239c8d704941 26 {
Dannis_mbed 1:239c8d704941 27 offTimeCounter = Value;
Dannis_mbed 1:239c8d704941 28 }
Dannis_mbed 1:239c8d704941 29
Dannis_mbed 1:239c8d704941 30 void Stepper::vResetOffTimeCount(void)
Dannis_mbed 1:239c8d704941 31 {
Dannis_mbed 1:239c8d704941 32 offTimeCounter = 1500; // max ramp up/down = 700us
Dannis_mbed 1:239c8d704941 33 offTime = true;
Dannis_mbed 1:239c8d704941 34 bRampUp = true;
Dannis_mbed 1:239c8d704941 35 bRampDown = false;
Dannis_mbed 1:239c8d704941 36 }
Dannis_mbed 1:239c8d704941 37
Dannis_mbed 1:239c8d704941 38 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 39 // get's //
Dannis_mbed 1:239c8d704941 40 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 41 uint32_t Stepper::iGetStepCount(void)
Dannis_mbed 1:239c8d704941 42 {
Dannis_mbed 1:239c8d704941 43 return counter;
Dannis_mbed 1:239c8d704941 44 }
Dannis_mbed 1:239c8d704941 45
Dannis_mbed 1:239c8d704941 46 uint32_t Stepper::iGetOffTimeCount(void)
Dannis_mbed 1:239c8d704941 47 {
Dannis_mbed 1:239c8d704941 48 if (counter == uiInitRampDown) {bRampDown = true; bRampUp = false;}
Dannis_mbed 1:239c8d704941 49 return offTimeCounter;
Dannis_mbed 1:239c8d704941 50 }
Dannis_mbed 1:239c8d704941 51
Dannis_mbed 1:239c8d704941 52 bool Stepper::bGetoffTime(void)
Dannis_mbed 1:239c8d704941 53 {
Dannis_mbed 1:239c8d704941 54 return offTime;
Dannis_mbed 1:239c8d704941 55 }
Dannis_mbed 1:239c8d704941 56
Dannis_mbed 1:239c8d704941 57 bool Stepper::bGetRampUp(void)
Dannis_mbed 1:239c8d704941 58 {
Dannis_mbed 1:239c8d704941 59 return bRampUp;
Dannis_mbed 1:239c8d704941 60 }
Dannis_mbed 1:239c8d704941 61
Dannis_mbed 1:239c8d704941 62 bool Stepper::bGetRampDown(void)
Dannis_mbed 1:239c8d704941 63 {
Dannis_mbed 1:239c8d704941 64 return bRampDown;
Dannis_mbed 1:239c8d704941 65 }
Dannis_mbed 1:239c8d704941 66
Dannis_mbed 1:239c8d704941 67 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 68 // decreases //
Dannis_mbed 1:239c8d704941 69 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 70 void Stepper::vDecreaseStepCount(void)
Dannis_mbed 1:239c8d704941 71 {
Dannis_mbed 1:239c8d704941 72 counter--;
Dannis_mbed 1:239c8d704941 73 }
Dannis_mbed 1:239c8d704941 74
Dannis_mbed 1:239c8d704941 75 void Stepper::vDecreaseOffTimeCount(void)
Dannis_mbed 1:239c8d704941 76 {
Dannis_mbed 1:239c8d704941 77 if(offTimeCounter >= 800) // while ramp up isn't complete
Dannis_mbed 1:239c8d704941 78 {
Dannis_mbed 1:239c8d704941 79 offTimeCounter--;
Dannis_mbed 1:239c8d704941 80 offTime = false; // ramp up complete
Dannis_mbed 1:239c8d704941 81 if (offTimeCounter == 800) bRampUp = false;
Dannis_mbed 1:239c8d704941 82 }
Dannis_mbed 1:239c8d704941 83 }
Dannis_mbed 1:239c8d704941 84
Dannis_mbed 1:239c8d704941 85 void Stepper::vIncreaseOffTimeCount(void)
Dannis_mbed 1:239c8d704941 86 {
Dannis_mbed 1:239c8d704941 87 if(offTimeCounter <= 1500) // while ramp down isn't complete
Dannis_mbed 1:239c8d704941 88 {
Dannis_mbed 1:239c8d704941 89 offTimeCounter++;
Dannis_mbed 1:239c8d704941 90 //if (offTimeCounter == 1500) bRampUp = false; // ramp down complete
Dannis_mbed 1:239c8d704941 91 }
Dannis_mbed 1:239c8d704941 92 }
Dannis_mbed 1:239c8d704941 93
Dannis_mbed 1:239c8d704941 94 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 95 // increases //
Dannis_mbed 1:239c8d704941 96 //////////////////////////////////////////////////////////////////////////////////////
Dannis_mbed 1:239c8d704941 97 void Stepper::vIncreaseStepCount(void)
Dannis_mbed 1:239c8d704941 98 {
Dannis_mbed 1:239c8d704941 99 counter++;
Dannis_mbed 1:239c8d704941 100 }
Dannis_mbed 1:239c8d704941 101