Plymouth ELEC351 Group T
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ELEC351_Group_T
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Diff: STEPPER_MOTOR.cpp
- Revision:
- 53:71f59e195f06
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/STEPPER_MOTOR.cpp Mon May 07 15:44:34 2018 +0000 @@ -0,0 +1,54 @@ +#include "mbed.h" //Include the mbed libraries +#include "STEPPER_MOTOR.hpp" //Include the header file, this acts like a series of forward declarations +#include "SERIAL_COMMANDS.hpp" + +//Constructor +STEPPER_MOTOR::STEPPER_MOTOR(PinName STEP, PinName DIRECTION) : _STEP(STEP), _DIRECTION(DIRECTION) //Constructor +{ + +} + +STEPPER_MOTOR::~STEPPER_MOTOR(){} //Destructor +void STEPPER_MOTOR::Rotate_Steps(int Steps, int Direction)//Test this with the larger delay to see if that will increase the performance +{ + _DIRECTION = Direction; + for(int x =0 ; x < Steps; x++) + { + _STEP = 1; + //wait_us(500); + wait_ms(5); + //Thread::wait(1);//wait 1 ms + _STEP = 0; + wait_ms(5); + //wait_us(500); + //Thread::wait(1);//wait 1ms + } + steps = 0; +} +void STEPPER_MOTOR::Permanent_Rotate_clock_wise() +{ + _DIRECTION = 1; + for(int x = 0; x< 200; x++) + { + _STEP = 1; + wait_us(500); + //Thread::wait(1);//wait 1 ms + _STEP = 0; + wait_us(500); + //Thread::wait(1);//wait 1ms + } +} +void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise() +{ + _DIRECTION = 0;//For anti clockwise rotation + for(int x = 0; x< 200; x++) + { + _STEP = 1; + wait_us(500); + //Thread::wait(1);//wait 1 ms + _STEP = 0; + wait_us(500); + //Thread::wait(1);//wait 1ms + } +} + \ No newline at end of file