Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
STEPPER.h
- Committer:
- scherfa2
- Date:
- 2019-05-14
- Revision:
- 40:117b324843ee
- Parent:
- 39:6cc9a40bc8a6
File content as of revision 40:117b324843ee:
#ifndef STEPPER_H #define STEPPER_H #include "mbed.h" #include "DevSPI.h" #include "L6470_def.h" #include "StepperMotor.h" /* ----------------------- LEERLAUF ----------------------------------------- */ void Stepper_1_Leerlauf(); void Stepper_2_Leerlauf(); void Stepper_3_Leerlauf(); void Stepper_4_Leerlauf(); /* ---------------------------- END ----------------------------------------- */ /* -------------------------- STOP ------------------------------------------ */ void Stepper_1_Stop(); void Stepper_2_Stop(); void Stepper_3_Stop(); void Stepper_4_Stop(); /* ---------------------------- END ----------------------------------------- */ /* ----------------------- SET_HOME_POSITION -------------------------------- */ /* Legt akutelle Postion als Home fest und setzt Stepper-Count auf 0 */ void Stepper_1_SetHome(); void Stepper_2_SetHome(); void Stepper_3_SetHome(); void Stepper_4_SetHome(); /* Fährt auf dem kürzesten Weg nach Home zurück */ void Stepper_1_GoHome(); void Stepper_2_GoHome(); void Stepper_3_GoHome(); void Stepper_4_GoHome(); /* ---------------------------- END ----------------------------------------- */ /* ----------------------- MARK_POSITION ------------------------------------ */ /* Markiert aktuelle Position des Steppers, setzt Stepper-Count NICHT auf 0 */ void Stepper_1_MarkPos(); void Stepper_2_MarkPos(); void Stepper_3_MarkPos(); void Stepper_4_MarkPos(); /* Fährt auf dem kürzesten Weg zur markierten Postion zurück */ void Stepper_1_GoMark(); void Stepper_2_GoMark(); void Stepper_3_GoMark(); void Stepper_4_GoMark(); /* Gibt Position welche markiert wurden zurück */ int Stepper_1_GetMark(); int Stepper_1_GetMark(); // Braucht man eigentlich nicht int Stepper_1_GetMark(); int Stepper_1_GetMark(); /* ---------------------------- END ----------------------------------------- */ /* ---------------------------- ANY_POSITION -------------------------------- */ /* Gibt aktuelle Position des Steppers zurück */ int Stepper_1_GetPosition(); int Stepper_2_GetPosition(); int Stepper_3_GetPosition(); int Stepper_4_GetPosition(); /* Fährt automatisch zur markierten Postion */ void Stepper_1_GoTo(signed int position); void Stepper_2_GoTo(signed int position); void Stepper_3_GoTo(signed int position); void Stepper_4_GoTo(signed int position); /* ---------------------------- END ----------------------------------------- */ /* --------------------------------- MOVE ----------------------------------- */ /* Richtung angeben und Anzahl Steps */ /* V = Vorwärts */ /* R = Rückwärts */ void Stepper_1_Move(char direction, unsigned int steps); void Stepper_2_Move(char direction, unsigned int steps); void Stepper_3_Move(char direction, unsigned int steps); void Stepper_4_Move(char direction, unsigned int steps); /* ---------------------------- END ----------------------------------------- */ /* --------------------------------- RUN ------------------------------------ */ /* Richtung angeben und Geschwindigkeit */ /* V = Vorwärts */ /* R = Rückwärts */ void Stepper_1_Run(char direction, unsigned int speed); void Stepper_2_Run(char direction, unsigned int speed); void Stepper_3_Run(char direction, unsigned int speed); void Stepper_4_Run(char direction, unsigned int speed); /* ---------------------------- END ----------------------------------------- */ /* ------------------------- SET_SPEED_AC ----------------------------------- */ void Stepper_1_SetPara(int speed, int acc); void Stepper_2_SetPara(int speed, int acc); void Stepper_3_SetPara(int speed, int acc); void Stepper_4_SetPara(int speed, int acc); /* ---------------------------- END ----------------------------------------- */ #endif