Diff: STEPPER.cpp

Revision:

36:ba2e7eddbafa

Parent:

35:758191d5c6e1

Child:

37:a74d377d8f74

--- a/STEPPER.cpp	Sun May 05 16:18:20 2019 +0000
+++ b/STEPPER.cpp	Wed May 08 09:35:40 2019 +0000
@@ -31,6 +31,31 @@
 
 
 
+/* --------------------------- Stop ----------------------------------------- */
+void Stepper_1_Stop()
+{
+    motors[0]->hard_stop(); 
+    motors[0]->wait_while_active(); 
+}
+void Stepper_2_Stop()
+{
+    motors[1]->hard_stop(); 
+    motors[1]->wait_while_active(); 
+}
+void Stepper_3_Stop()
+{
+    motors2[0]->hard_stop(); 
+    motors2[0]->wait_while_active(); 
+}
+void Stepper_4_Stop()
+{
+    motors2[1]->hard_stop(); 
+    motors2[1]->wait_while_active(); 
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
 /* ---------------------- Setzte Home Position ------------------------------ */
 void Stepper_1_SetHome()
 {
@@ -197,3 +222,119 @@
     motors2[1]->wait_while_active();
 }
 /* ---------------------------- END ----------------------------------------- */
+
+
+
+/* --------------------------------- MOVE ----------------------------------- */
+void Stepper_1_Move(char direction, unsigned int steps)
+{
+    if( direction == 'V')
+    {
+        motors[0]->move(StepperMotor::FWD, steps);
+        motors[0]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors[0]->move(StepperMotor::BWD, steps);
+        motors[0]->wait_while_active();
+    }
+    
+}
+void Stepper_2_Move(char direction, unsigned int steps)
+{
+    if( direction == 'V')
+    {
+        motors[1]->move(StepperMotor::FWD, steps);
+        motors[1]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors[1]->move(StepperMotor::BWD, steps);
+        motors[1]->wait_while_active();
+    }
+}
+void Stepper_3_Move(char direction, unsigned int steps)
+{
+    if( direction == 'V')
+    {
+        motors2[0]->move(StepperMotor::FWD, steps);
+        motors2[0]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors2[0]->move(StepperMotor::BWD, steps);
+        motors2[0]->wait_while_active();
+    }
+}
+void Stepper_4_Move(char direction, unsigned int steps)
+{
+    if( direction == 'V')
+    {
+        motors2[1]->move(StepperMotor::FWD, steps);
+        motors2[1]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors2[1]->move(StepperMotor::BWD, steps);
+        motors2[1]->wait_while_active();
+    }
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* --------------------------------- RUN ------------------------------------ */
+void Stepper_1_Run(char direction, unsigned int speed)
+{
+    if( direction == 'V')
+    {
+        motors[0]->run(StepperMotor::FWD, speed);
+        motors[0]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors[0]->run(StepperMotor::BWD, speed);
+        motors[0]->wait_while_active();
+    }
+    
+}
+void Stepper_2_Run(char direction, unsigned int speed)
+{
+    if( direction == 'V')
+    {
+        motors[1]->run(StepperMotor::FWD, speed);
+        motors[1]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors[1]->run(StepperMotor::BWD, speed);
+        motors[1]->wait_while_active();
+    }
+}
+void Stepper_3_Run(char direction, unsigned int speed)
+{
+    if( direction == 'V')
+    {
+        motors2[0]->run(StepperMotor::FWD, speed);
+        motors2[0]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors2[0]->run(StepperMotor::BWD, speed);
+        motors2[0]->wait_while_active();
+    }
+}
+void Stepper_4_Run(char direction, unsigned int speed)
+{
+    if( direction == 'V')
+    {
+        motors2[1]->run(StepperMotor::FWD, speed);
+        motors2[1]->wait_while_active();
+    }
+    else if ( direction == 'R')
+    {
+        motors2[1]->run(StepperMotor::BWD, speed);
+        motors2[1]->wait_while_active();
+    }
+}
+/* ---------------------------- END ----------------------------------------- */
\ No newline at end of file