Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
STEPPER.cpp@37:a74d377d8f74, 2019-05-10 (annotated)
- Committer:
- hagenrap
- Date:
- Fri May 10 17:31:36 2019 +0000
- Revision:
- 37:a74d377d8f74
- Parent:
- 36:ba2e7eddbafa
- Child:
- 39:6cc9a40bc8a6
spleisser probleme;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hagenrap | 33:de144094bdd1 | 1 | #include "SETUP.h" |
hagenrap | 35:758191d5c6e1 | 2 | /* --------------------------- Variables ------------------------------------ */ |
scherfa2 | 34:0dee9a606869 | 3 | extern L6470B **motors2; |
scherfa2 | 34:0dee9a606869 | 4 | extern L6470 **motors; |
hagenrap | 35:758191d5c6e1 | 5 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 33:de144094bdd1 | 6 | |
hagenrap | 35:758191d5c6e1 | 7 | |
hagenrap | 35:758191d5c6e1 | 8 | |
hagenrap | 35:758191d5c6e1 | 9 | /* -------------------------- Leerlauf -------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 10 | void Stepper_1_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 11 | { |
hagenrap | 35:758191d5c6e1 | 12 | motors[0]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 13 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 14 | } |
hagenrap | 35:758191d5c6e1 | 15 | void Stepper_2_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 16 | { |
hagenrap | 35:758191d5c6e1 | 17 | motors[1]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 18 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 19 | } |
hagenrap | 35:758191d5c6e1 | 20 | void Stepper_3_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 21 | { |
hagenrap | 35:758191d5c6e1 | 22 | motors2[0]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 23 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 24 | } |
hagenrap | 35:758191d5c6e1 | 25 | void Stepper_4_Leerlauf() |
hagenrap | 35:758191d5c6e1 | 26 | { |
hagenrap | 35:758191d5c6e1 | 27 | motors2[1]->hard_hiz(); |
hagenrap | 35:758191d5c6e1 | 28 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 29 | } |
hagenrap | 35:758191d5c6e1 | 30 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 31 | |
hagenrap | 35:758191d5c6e1 | 32 | |
hagenrap | 35:758191d5c6e1 | 33 | |
hagenrap | 36:ba2e7eddbafa | 34 | /* --------------------------- Stop ----------------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 35 | void Stepper_1_Stop() |
hagenrap | 36:ba2e7eddbafa | 36 | { |
hagenrap | 36:ba2e7eddbafa | 37 | motors[0]->hard_stop(); |
hagenrap | 36:ba2e7eddbafa | 38 | motors[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 39 | } |
hagenrap | 36:ba2e7eddbafa | 40 | void Stepper_2_Stop() |
hagenrap | 36:ba2e7eddbafa | 41 | { |
hagenrap | 36:ba2e7eddbafa | 42 | motors[1]->hard_stop(); |
hagenrap | 36:ba2e7eddbafa | 43 | motors[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 44 | } |
hagenrap | 36:ba2e7eddbafa | 45 | void Stepper_3_Stop() |
hagenrap | 36:ba2e7eddbafa | 46 | { |
hagenrap | 36:ba2e7eddbafa | 47 | motors2[0]->hard_stop(); |
hagenrap | 36:ba2e7eddbafa | 48 | motors2[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 49 | } |
hagenrap | 36:ba2e7eddbafa | 50 | void Stepper_4_Stop() |
hagenrap | 36:ba2e7eddbafa | 51 | { |
hagenrap | 36:ba2e7eddbafa | 52 | motors2[1]->hard_stop(); |
hagenrap | 36:ba2e7eddbafa | 53 | motors2[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 54 | } |
hagenrap | 36:ba2e7eddbafa | 55 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 56 | |
hagenrap | 36:ba2e7eddbafa | 57 | |
hagenrap | 36:ba2e7eddbafa | 58 | |
hagenrap | 35:758191d5c6e1 | 59 | /* ---------------------- Setzte Home Position ------------------------------ */ |
hagenrap | 35:758191d5c6e1 | 60 | void Stepper_1_SetHome() |
hagenrap | 35:758191d5c6e1 | 61 | { |
hagenrap | 35:758191d5c6e1 | 62 | motors[0]->set_home(); |
hagenrap | 35:758191d5c6e1 | 63 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 64 | } |
hagenrap | 35:758191d5c6e1 | 65 | void Stepper_2_SetHome() |
hagenrap | 35:758191d5c6e1 | 66 | { |
hagenrap | 35:758191d5c6e1 | 67 | motors[1]->set_home(); |
hagenrap | 35:758191d5c6e1 | 68 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 69 | } |
hagenrap | 35:758191d5c6e1 | 70 | void Stepper_3_SetHome() |
hagenrap | 35:758191d5c6e1 | 71 | { |
hagenrap | 35:758191d5c6e1 | 72 | motors2[0]->set_home(); |
hagenrap | 35:758191d5c6e1 | 73 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 74 | } |
hagenrap | 35:758191d5c6e1 | 75 | void Stepper_4_SetHome() |
hagenrap | 35:758191d5c6e1 | 76 | { |
hagenrap | 35:758191d5c6e1 | 77 | motors2[1]->set_home(); |
hagenrap | 35:758191d5c6e1 | 78 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 79 | } |
hagenrap | 35:758191d5c6e1 | 80 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 81 | |
hagenrap | 35:758191d5c6e1 | 82 | |
hagenrap | 35:758191d5c6e1 | 83 | |
hagenrap | 35:758191d5c6e1 | 84 | /* -------- Setting the current position to be the marked position ---------- */ |
hagenrap | 35:758191d5c6e1 | 85 | void Stepper_1_MarkPos() |
hagenrap | 35:758191d5c6e1 | 86 | { |
hagenrap | 35:758191d5c6e1 | 87 | motors[0]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 88 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 89 | } |
hagenrap | 35:758191d5c6e1 | 90 | void Stepper_2_MarkPos() |
hagenrap | 35:758191d5c6e1 | 91 | { |
hagenrap | 35:758191d5c6e1 | 92 | motors[1]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 93 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 94 | } |
hagenrap | 35:758191d5c6e1 | 95 | void Stepper_3_MarkPos() |
hagenrap | 35:758191d5c6e1 | 96 | { |
hagenrap | 35:758191d5c6e1 | 97 | motors2[0]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 98 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 99 | } |
hagenrap | 35:758191d5c6e1 | 100 | void Stepper_4_MarkPos() |
hagenrap | 35:758191d5c6e1 | 101 | { |
hagenrap | 35:758191d5c6e1 | 102 | motors2[1]->set_mark(); |
hagenrap | 35:758191d5c6e1 | 103 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 104 | } |
hagenrap | 35:758191d5c6e1 | 105 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 106 | |
hagenrap | 35:758191d5c6e1 | 107 | |
hagenrap | 35:758191d5c6e1 | 108 | |
hagenrap | 35:758191d5c6e1 | 109 | /* ------------------------ Get Current Position ---------------------------- */ |
hagenrap | 35:758191d5c6e1 | 110 | int Stepper_1_GetPosition() |
hagenrap | 35:758191d5c6e1 | 111 | { |
hagenrap | 35:758191d5c6e1 | 112 | return motors[0]->get_position(); |
hagenrap | 35:758191d5c6e1 | 113 | } |
hagenrap | 35:758191d5c6e1 | 114 | int Stepper_2_GetPosition() |
hagenrap | 35:758191d5c6e1 | 115 | { |
hagenrap | 35:758191d5c6e1 | 116 | return motors[1]->get_position(); |
hagenrap | 35:758191d5c6e1 | 117 | } |
hagenrap | 35:758191d5c6e1 | 118 | int Stepper_3_GetPosition() |
hagenrap | 35:758191d5c6e1 | 119 | { |
hagenrap | 35:758191d5c6e1 | 120 | return motors2[0]->get_position(); |
hagenrap | 35:758191d5c6e1 | 121 | } |
hagenrap | 35:758191d5c6e1 | 122 | int Stepper_4_GetPosition() |
hagenrap | 33:de144094bdd1 | 123 | { |
hagenrap | 35:758191d5c6e1 | 124 | return motors2[1]->get_position(); |
hagenrap | 35:758191d5c6e1 | 125 | } |
hagenrap | 35:758191d5c6e1 | 126 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 127 | |
hagenrap | 35:758191d5c6e1 | 128 | |
hagenrap | 35:758191d5c6e1 | 129 | |
hagenrap | 35:758191d5c6e1 | 130 | /* ---------------------- Get Marked Position ------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 131 | /* |
hagenrap | 35:758191d5c6e1 | 132 | int Stepper_1_GetMark() |
hagenrap | 35:758191d5c6e1 | 133 | { |
hagenrap | 35:758191d5c6e1 | 134 | return motors[0]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 135 | } |
hagenrap | 35:758191d5c6e1 | 136 | int Stepper_2_GetMark() |
hagenrap | 35:758191d5c6e1 | 137 | { |
hagenrap | 35:758191d5c6e1 | 138 | return motors[1]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 139 | } |
hagenrap | 35:758191d5c6e1 | 140 | int Stepper_3_GetMark() |
hagenrap | 35:758191d5c6e1 | 141 | { |
hagenrap | 35:758191d5c6e1 | 142 | return motors2[0]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 143 | } |
hagenrap | 35:758191d5c6e1 | 144 | int Stepper_4_GetMark() |
hagenrap | 35:758191d5c6e1 | 145 | { |
hagenrap | 35:758191d5c6e1 | 146 | return motors2[1]->get_mark(); |
hagenrap | 35:758191d5c6e1 | 147 | } |
hagenrap | 35:758191d5c6e1 | 148 | */ |
hagenrap | 35:758191d5c6e1 | 149 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 150 | |
hagenrap | 35:758191d5c6e1 | 151 | |
hagenrap | 33:de144094bdd1 | 152 | |
hagenrap | 35:758191d5c6e1 | 153 | /* ------------------ Going to a specified position ------------------------- */ |
hagenrap | 35:758191d5c6e1 | 154 | void Stepper_1_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 155 | { |
hagenrap | 35:758191d5c6e1 | 156 | motors[0]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 157 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 158 | } |
hagenrap | 35:758191d5c6e1 | 159 | void Stepper_2_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 160 | { |
hagenrap | 35:758191d5c6e1 | 161 | motors[1]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 162 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 163 | } |
hagenrap | 35:758191d5c6e1 | 164 | void Stepper_3_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 165 | { |
hagenrap | 35:758191d5c6e1 | 166 | motors2[0]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 167 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 168 | } |
hagenrap | 35:758191d5c6e1 | 169 | void Stepper_4_GoTo(signed int position) |
hagenrap | 35:758191d5c6e1 | 170 | { |
hagenrap | 35:758191d5c6e1 | 171 | motors2[1]->go_to(position); |
hagenrap | 35:758191d5c6e1 | 172 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 173 | } |
hagenrap | 35:758191d5c6e1 | 174 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 175 | |
hagenrap | 35:758191d5c6e1 | 176 | |
hagenrap | 35:758191d5c6e1 | 177 | |
hagenrap | 35:758191d5c6e1 | 178 | /* ------------------------- Go to Home ------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 179 | void Stepper_1_GoHome() |
hagenrap | 35:758191d5c6e1 | 180 | { |
hagenrap | 35:758191d5c6e1 | 181 | motors[0]->go_home(); |
hagenrap | 35:758191d5c6e1 | 182 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 183 | } |
hagenrap | 35:758191d5c6e1 | 184 | void Stepper_2_GoHome() |
hagenrap | 35:758191d5c6e1 | 185 | { |
hagenrap | 35:758191d5c6e1 | 186 | motors[1]->go_home(); |
hagenrap | 35:758191d5c6e1 | 187 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 188 | } |
hagenrap | 35:758191d5c6e1 | 189 | void Stepper_3_GoHome() |
hagenrap | 35:758191d5c6e1 | 190 | { |
hagenrap | 35:758191d5c6e1 | 191 | motors2[0]->go_home(); |
hagenrap | 35:758191d5c6e1 | 192 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 193 | } |
hagenrap | 35:758191d5c6e1 | 194 | void Stepper_4_GoHome() |
hagenrap | 35:758191d5c6e1 | 195 | { |
hagenrap | 35:758191d5c6e1 | 196 | motors[1]->go_home(); |
hagenrap | 35:758191d5c6e1 | 197 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 198 | } |
hagenrap | 35:758191d5c6e1 | 199 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 200 | |
hagenrap | 35:758191d5c6e1 | 201 | |
hagenrap | 35:758191d5c6e1 | 202 | |
hagenrap | 35:758191d5c6e1 | 203 | /* ----------------------------- Go to Mark --------------------------------- */ |
hagenrap | 35:758191d5c6e1 | 204 | void Stepper_1_GoMark() |
hagenrap | 35:758191d5c6e1 | 205 | { |
hagenrap | 35:758191d5c6e1 | 206 | motors[0]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 207 | motors[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 208 | } |
hagenrap | 35:758191d5c6e1 | 209 | void Stepper_2_GoMark() |
hagenrap | 35:758191d5c6e1 | 210 | { |
hagenrap | 35:758191d5c6e1 | 211 | motors[1]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 212 | motors[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 213 | } |
hagenrap | 35:758191d5c6e1 | 214 | void Stepper_3_GoMark() |
hagenrap | 35:758191d5c6e1 | 215 | { |
hagenrap | 35:758191d5c6e1 | 216 | motors2[0]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 217 | motors2[0]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 218 | } |
hagenrap | 35:758191d5c6e1 | 219 | void Stepper_4_GoMark() |
hagenrap | 35:758191d5c6e1 | 220 | { |
hagenrap | 35:758191d5c6e1 | 221 | motors2[1]->go_mark(); |
hagenrap | 35:758191d5c6e1 | 222 | motors2[1]->wait_while_active(); |
hagenrap | 35:758191d5c6e1 | 223 | } |
hagenrap | 35:758191d5c6e1 | 224 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 225 | |
hagenrap | 36:ba2e7eddbafa | 226 | |
hagenrap | 36:ba2e7eddbafa | 227 | |
hagenrap | 36:ba2e7eddbafa | 228 | /* --------------------------------- MOVE ----------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 229 | void Stepper_1_Move(char direction, unsigned int steps) |
hagenrap | 36:ba2e7eddbafa | 230 | { |
hagenrap | 36:ba2e7eddbafa | 231 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 232 | { |
hagenrap | 37:a74d377d8f74 | 233 | motors[0]->move(StepperMotor::FWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 234 | motors[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 235 | } |
hagenrap | 36:ba2e7eddbafa | 236 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 237 | { |
hagenrap | 37:a74d377d8f74 | 238 | motors[0]->move(StepperMotor::BWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 239 | motors[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 240 | } |
hagenrap | 36:ba2e7eddbafa | 241 | |
hagenrap | 36:ba2e7eddbafa | 242 | } |
hagenrap | 36:ba2e7eddbafa | 243 | void Stepper_2_Move(char direction, unsigned int steps) |
hagenrap | 36:ba2e7eddbafa | 244 | { |
hagenrap | 36:ba2e7eddbafa | 245 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 246 | { |
hagenrap | 37:a74d377d8f74 | 247 | motors[1]->move(StepperMotor::FWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 248 | motors[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 249 | } |
hagenrap | 36:ba2e7eddbafa | 250 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 251 | { |
hagenrap | 37:a74d377d8f74 | 252 | motors[1]->move(StepperMotor::BWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 253 | motors[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 254 | } |
hagenrap | 36:ba2e7eddbafa | 255 | } |
hagenrap | 36:ba2e7eddbafa | 256 | void Stepper_3_Move(char direction, unsigned int steps) |
hagenrap | 36:ba2e7eddbafa | 257 | { |
hagenrap | 36:ba2e7eddbafa | 258 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 259 | { |
hagenrap | 37:a74d377d8f74 | 260 | motors2[0]->move(StepperMotor::FWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 261 | motors2[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 262 | } |
hagenrap | 36:ba2e7eddbafa | 263 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 264 | { |
hagenrap | 37:a74d377d8f74 | 265 | motors2[0]->move(StepperMotor::BWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 266 | motors2[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 267 | } |
hagenrap | 36:ba2e7eddbafa | 268 | } |
hagenrap | 36:ba2e7eddbafa | 269 | void Stepper_4_Move(char direction, unsigned int steps) |
hagenrap | 36:ba2e7eddbafa | 270 | { |
hagenrap | 36:ba2e7eddbafa | 271 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 272 | { |
hagenrap | 37:a74d377d8f74 | 273 | motors2[1]->move(StepperMotor::FWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 274 | motors2[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 275 | } |
hagenrap | 36:ba2e7eddbafa | 276 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 277 | { |
hagenrap | 37:a74d377d8f74 | 278 | motors2[1]->move(StepperMotor::BWD, 128*steps); |
hagenrap | 36:ba2e7eddbafa | 279 | motors2[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 280 | } |
hagenrap | 36:ba2e7eddbafa | 281 | } |
hagenrap | 36:ba2e7eddbafa | 282 | /* ---------------------------- END ----------------------------------------- */ |
hagenrap | 36:ba2e7eddbafa | 283 | |
hagenrap | 36:ba2e7eddbafa | 284 | |
hagenrap | 36:ba2e7eddbafa | 285 | |
hagenrap | 36:ba2e7eddbafa | 286 | /* --------------------------------- RUN ------------------------------------ */ |
hagenrap | 36:ba2e7eddbafa | 287 | void Stepper_1_Run(char direction, unsigned int speed) |
hagenrap | 36:ba2e7eddbafa | 288 | { |
hagenrap | 36:ba2e7eddbafa | 289 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 290 | { |
hagenrap | 36:ba2e7eddbafa | 291 | motors[0]->run(StepperMotor::FWD, speed); |
hagenrap | 36:ba2e7eddbafa | 292 | motors[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 293 | } |
hagenrap | 36:ba2e7eddbafa | 294 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 295 | { |
hagenrap | 36:ba2e7eddbafa | 296 | motors[0]->run(StepperMotor::BWD, speed); |
hagenrap | 36:ba2e7eddbafa | 297 | motors[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 298 | } |
hagenrap | 36:ba2e7eddbafa | 299 | |
hagenrap | 36:ba2e7eddbafa | 300 | } |
hagenrap | 36:ba2e7eddbafa | 301 | void Stepper_2_Run(char direction, unsigned int speed) |
hagenrap | 36:ba2e7eddbafa | 302 | { |
hagenrap | 36:ba2e7eddbafa | 303 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 304 | { |
hagenrap | 36:ba2e7eddbafa | 305 | motors[1]->run(StepperMotor::FWD, speed); |
hagenrap | 36:ba2e7eddbafa | 306 | motors[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 307 | } |
hagenrap | 36:ba2e7eddbafa | 308 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 309 | { |
hagenrap | 36:ba2e7eddbafa | 310 | motors[1]->run(StepperMotor::BWD, speed); |
hagenrap | 36:ba2e7eddbafa | 311 | motors[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 312 | } |
hagenrap | 36:ba2e7eddbafa | 313 | } |
hagenrap | 36:ba2e7eddbafa | 314 | void Stepper_3_Run(char direction, unsigned int speed) |
hagenrap | 36:ba2e7eddbafa | 315 | { |
hagenrap | 36:ba2e7eddbafa | 316 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 317 | { |
hagenrap | 36:ba2e7eddbafa | 318 | motors2[0]->run(StepperMotor::FWD, speed); |
hagenrap | 36:ba2e7eddbafa | 319 | motors2[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 320 | } |
hagenrap | 36:ba2e7eddbafa | 321 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 322 | { |
hagenrap | 36:ba2e7eddbafa | 323 | motors2[0]->run(StepperMotor::BWD, speed); |
hagenrap | 36:ba2e7eddbafa | 324 | motors2[0]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 325 | } |
hagenrap | 36:ba2e7eddbafa | 326 | } |
hagenrap | 36:ba2e7eddbafa | 327 | void Stepper_4_Run(char direction, unsigned int speed) |
hagenrap | 36:ba2e7eddbafa | 328 | { |
hagenrap | 36:ba2e7eddbafa | 329 | if( direction == 'V') |
hagenrap | 36:ba2e7eddbafa | 330 | { |
hagenrap | 36:ba2e7eddbafa | 331 | motors2[1]->run(StepperMotor::FWD, speed); |
hagenrap | 36:ba2e7eddbafa | 332 | motors2[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 333 | } |
hagenrap | 36:ba2e7eddbafa | 334 | else if ( direction == 'R') |
hagenrap | 36:ba2e7eddbafa | 335 | { |
hagenrap | 36:ba2e7eddbafa | 336 | motors2[1]->run(StepperMotor::BWD, speed); |
hagenrap | 36:ba2e7eddbafa | 337 | motors2[1]->wait_while_active(); |
hagenrap | 36:ba2e7eddbafa | 338 | } |
hagenrap | 36:ba2e7eddbafa | 339 | } |
hagenrap | 36:ba2e7eddbafa | 340 | /* ---------------------------- END ----------------------------------------- */ |