Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
Diff: STEPPER.cpp
- Revision:
- 39:6cc9a40bc8a6
- Parent:
- 37:a74d377d8f74
- Child:
- 40:117b324843ee
--- a/STEPPER.cpp Mon May 13 10:11:48 2019 +0000 +++ b/STEPPER.cpp Tue May 14 08:05:58 2019 +0000 @@ -9,22 +9,22 @@ /* -------------------------- Leerlauf -------------------------------------- */ void Stepper_1_Leerlauf() { - motors[0]->hard_hiz(); - motors[0]->wait_while_active(); + motors[0]->hard_hiz(); + motors[0]->wait_while_active(); } void Stepper_2_Leerlauf() { - motors[1]->hard_hiz(); + motors[1]->hard_hiz(); motors[1]->wait_while_active(); } void Stepper_3_Leerlauf() { - motors2[0]->hard_hiz(); + motors2[0]->hard_hiz(); motors2[0]->wait_while_active(); } void Stepper_4_Leerlauf() { - motors2[1]->hard_hiz(); + motors2[1]->hard_hiz(); motors2[1]->wait_while_active(); } /* ---------------------------- END ----------------------------------------- */ @@ -34,23 +34,23 @@ /* --------------------------- Stop ----------------------------------------- */ void Stepper_1_Stop() { - motors[0]->hard_stop(); - motors[0]->wait_while_active(); + motors[0]->hard_stop(); + motors[0]->wait_while_active(); } void Stepper_2_Stop() { - motors[1]->hard_stop(); - motors[1]->wait_while_active(); + motors[1]->hard_stop(); + motors[1]->wait_while_active(); } void Stepper_3_Stop() { - motors2[0]->hard_stop(); - motors2[0]->wait_while_active(); + motors2[0]->hard_stop(); + motors2[0]->wait_while_active(); } void Stepper_4_Stop() { - motors2[1]->hard_stop(); - motors2[1]->wait_while_active(); + motors2[1]->hard_stop(); + motors2[1]->wait_while_active(); } /* ---------------------------- END ----------------------------------------- */ @@ -228,53 +228,41 @@ /* --------------------------------- MOVE ----------------------------------- */ void Stepper_1_Move(char direction, unsigned int steps) { - if( direction == 'V') - { + if( direction == 'V') { motors[0]->move(StepperMotor::FWD, 128*steps); motors[0]->wait_while_active(); - } - else if ( direction == 'R') - { + } else if ( direction == 'R') { motors[0]->move(StepperMotor::BWD, 128*steps); motors[0]->wait_while_active(); } - + } void Stepper_2_Move(char direction, unsigned int steps) { - if( direction == 'V') - { + if( direction == 'V') { motors[1]->move(StepperMotor::FWD, 128*steps); motors[1]->wait_while_active(); - } - else if ( direction == 'R') - { + } else if ( direction == 'R') { motors[1]->move(StepperMotor::BWD, 128*steps); motors[1]->wait_while_active(); } } void Stepper_3_Move(char direction, unsigned int steps) { - if( direction == 'V') - { + if( direction == 'V') { motors2[0]->move(StepperMotor::FWD, 128*steps); motors2[0]->wait_while_active(); - } - else if ( direction == 'R') - { + } else if ( direction == 'R') { motors2[0]->move(StepperMotor::BWD, 128*steps); motors2[0]->wait_while_active(); } } void Stepper_4_Move(char direction, unsigned int steps) { - if( direction == 'V') - { + if( direction == 'V') { motors2[1]->move(StepperMotor::FWD, 128*steps); motors2[1]->wait_while_active(); - } - else if ( direction == 'R') - { + } else if ( direction == 'R') { motors2[1]->move(StepperMotor::BWD, 128*steps); motors2[1]->wait_while_active(); } @@ -286,55 +274,69 @@ /* --------------------------------- RUN ------------------------------------ */ void Stepper_1_Run(char direction, unsigned int speed) { - if( direction == 'V') - { + if( direction == 'V') { motors[0]->run(StepperMotor::FWD, speed); motors[0]->wait_while_active(); - } - else if ( direction == 'R') - { + } 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') - { + if( direction == 'V') { motors[1]->run(StepperMotor::FWD, speed); motors[1]->wait_while_active(); - } - else if ( direction == 'R') - { + } 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') - { + if( direction == 'V') { motors2[0]->run(StepperMotor::FWD, speed); motors2[0]->wait_while_active(); - } - else if ( direction == 'R') - { + } 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') - { + if( direction == 'V') { motors2[1]->run(StepperMotor::FWD, speed); motors2[1]->wait_while_active(); - } - else if ( direction == 'R') - { + } else if ( direction == 'R') { motors2[1]->run(StepperMotor::BWD, speed); motors2[1]->wait_while_active(); } } +/* ---------------------------- END ----------------------------------------- */ + + + + +/* ------------------------- SET_SPEED_AC ----------------------------------- */ +void Stepper_1_SetPara(int speed, int acc) +{ + motors[0]->set_max_speed(speed); + motors[0]->set_acceleration(acc); +} +void Stepper_2_SetPara(int speed, int acc) +{ + motors[1]->set_max_speed(speed); + motors[1]->set_acceleration(acc); +} +void Stepper_3_SetPara(int speed, int acc) +{ + motors2[0]->set_max_speed(speed); + motors2[0]->set_acceleration(acc); +} +void Stepper_4_SetPara(int speed, int acc) +{ + motors2[1]->set_max_speed(speed); + motors2[1]->set_acceleration(acc); +} /* ---------------------------- END ----------------------------------------- */ \ No newline at end of file