PES_4_Spleisser / Mbed 2 deprecated SpleisserProgramm_v5

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Dependencies:   mbed mbed-rtos X_NUCLEO_IHM02A1

STEPPER.cpp

Committer:
hagenrap
Date:
2019-05-05
Revision:
35:758191d5c6e1
Parent:
STEPPER_INIT.cpp@ 34:0dee9a606869
Child:
36:ba2e7eddbafa

File content as of revision 35:758191d5c6e1:

#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 ----------------------------------------- */