Diff: STEPPER.cpp

Revision:

35:758191d5c6e1

Parent:

34:0dee9a606869

Child:

36:ba2e7eddbafa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/STEPPER.cpp	Sun May 05 16:18:20 2019 +0000
@@ -0,0 +1,199 @@
+#include "SETUP.h"
+/* --------------------------- Variables ------------------------------------ */
+extern L6470B **motors2;
+extern L6470 **motors;
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* -------------------------- Leerlauf -------------------------------------- */
+void Stepper_1_Leerlauf()
+{
+    motors[0]->hard_hiz(); 
+    motors[0]->wait_while_active(); 
+}
+void Stepper_2_Leerlauf()
+{
+    motors[1]->hard_hiz();  
+    motors[1]->wait_while_active();
+}
+void Stepper_3_Leerlauf()
+{
+    motors2[0]->hard_hiz();  
+    motors2[0]->wait_while_active();
+}
+void Stepper_4_Leerlauf()
+{
+    motors2[1]->hard_hiz();  
+    motors2[1]->wait_while_active();
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* ---------------------- Setzte Home Position ------------------------------ */
+void Stepper_1_SetHome()
+{
+    motors[0]->set_home();
+    motors[0]->wait_while_active();
+}
+void Stepper_2_SetHome()
+{
+    motors[1]->set_home();
+    motors[1]->wait_while_active();
+}
+void Stepper_3_SetHome()
+{
+    motors2[0]->set_home();
+    motors2[0]->wait_while_active();
+}
+void Stepper_4_SetHome()
+{
+    motors2[1]->set_home();
+    motors2[1]->wait_while_active();
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* -------- Setting the current position to be the marked position ---------- */
+void Stepper_1_MarkPos()
+{
+    motors[0]->set_mark();
+    motors[0]->wait_while_active();
+}
+void Stepper_2_MarkPos()
+{
+    motors[1]->set_mark();
+    motors[1]->wait_while_active();
+}
+void Stepper_3_MarkPos()
+{
+    motors2[0]->set_mark();
+    motors2[0]->wait_while_active();
+}
+void Stepper_4_MarkPos()
+{
+    motors2[1]->set_mark();
+    motors2[1]->wait_while_active();
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* ------------------------ Get Current Position ---------------------------- */
+int Stepper_1_GetPosition()
+{
+    return motors[0]->get_position();
+}
+int Stepper_2_GetPosition()
+{
+    return motors[1]->get_position();
+}
+int Stepper_3_GetPosition()
+{
+    return motors2[0]->get_position();
+}
+int Stepper_4_GetPosition()
+{
+    return motors2[1]->get_position();
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* ---------------------- Get Marked Position ------------------------------- */
+/*
+int Stepper_1_GetMark()
+{
+    return motors[0]->get_mark();
+}
+int Stepper_2_GetMark()
+{
+    return motors[1]->get_mark();
+}
+int Stepper_3_GetMark()
+{
+    return motors2[0]->get_mark();
+}
+int Stepper_4_GetMark()
+{
+    return motors2[1]->get_mark();
+}
+*/
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* ------------------ Going to a specified position ------------------------- */
+void Stepper_1_GoTo(signed int position)
+{
+    motors[0]->go_to(position);
+    motors[0]->wait_while_active();
+}
+void Stepper_2_GoTo(signed int position)
+{
+    motors[1]->go_to(position);
+    motors[1]->wait_while_active();
+}
+void Stepper_3_GoTo(signed int position)
+{
+    motors2[0]->go_to(position);
+    motors2[0]->wait_while_active();
+}
+void Stepper_4_GoTo(signed int position)
+{
+    motors2[1]->go_to(position);
+    motors2[1]->wait_while_active();
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* ------------------------- Go to Home ------------------------------------- */
+void Stepper_1_GoHome()
+{
+    motors[0]->go_home();
+    motors[0]->wait_while_active();
+}
+void Stepper_2_GoHome()
+{
+    motors[1]->go_home();
+    motors[1]->wait_while_active();
+}
+void Stepper_3_GoHome()
+{
+    motors2[0]->go_home();
+    motors2[0]->wait_while_active();
+}
+void Stepper_4_GoHome()
+{
+    motors[1]->go_home();
+    motors[1]->wait_while_active();
+}
+/* ---------------------------- END ----------------------------------------- */
+
+
+
+/* ----------------------------- Go to Mark --------------------------------- */
+void Stepper_1_GoMark()
+{
+    motors[0]->go_mark();
+    motors[0]->wait_while_active();
+}
+void Stepper_2_GoMark()
+{
+    motors[1]->go_mark();
+    motors[1]->wait_while_active();
+}
+void Stepper_3_GoMark()
+{
+    motors2[0]->go_mark();
+    motors2[0]->wait_while_active();
+}
+void Stepper_4_GoMark()
+{
+    motors2[1]->go_mark();
+    motors2[1]->wait_while_active();
+}
+/* ---------------------------- END ----------------------------------------- */