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Dependencies:   mbed

Stepper.cpp@0:a1d256e2cd41, 2015-05-21 (annotated)

Committer:
thmaure
Date:
Thu May 21 14:21:25 2015 +0000
Revision:
0:a1d256e2cd41
moteur pas ? pas

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thmaure 0:a1d256e2cd41 1 #include "Stepper.h"
thmaure 0:a1d256e2cd41 2 #include "mbed.h"
thmaure 0:a1d256e2cd41 3
thmaure 0:a1d256e2cd41 4 stepper::stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir):en(_en),
thmaure 0:a1d256e2cd41 5 microstepping(ms1, ms2, ms3),
thmaure 0:a1d256e2cd41 6 stepPin(_stepPin),
thmaure 0:a1d256e2cd41 7 direction(dir)
thmaure 0:a1d256e2cd41 8 {
thmaure 0:a1d256e2cd41 9 }
thmaure 0:a1d256e2cd41 10
thmaure 0:a1d256e2cd41 11 void stepper::step(int microstep, int dir, float speed)
thmaure 0:a1d256e2cd41 12 {
thmaure 0:a1d256e2cd41 13 if (microstep == 1) {
thmaure 0:a1d256e2cd41 14 microstepping = 0;
thmaure 0:a1d256e2cd41 15 } else if (microstep <= 4) {
thmaure 0:a1d256e2cd41 16 microstepping = microstep / 2;
thmaure 0:a1d256e2cd41 17 } else if (microstep > 4) {
thmaure 0:a1d256e2cd41 18 microstepping = (microstep / 2) - 1;
thmaure 0:a1d256e2cd41 19 }
thmaure 0:a1d256e2cd41 20 if (dir == 1) {
thmaure 0:a1d256e2cd41 21 direction = 0;
thmaure 0:a1d256e2cd41 22 } else if (dir == 0) {
thmaure 0:a1d256e2cd41 23 direction = 1;
thmaure 0:a1d256e2cd41 24 }
thmaure 0:a1d256e2cd41 25
thmaure 0:a1d256e2cd41 26 // Step...
thmaure 0:a1d256e2cd41 27 stepPin = 1;
thmaure 0:a1d256e2cd41 28 wait(1/speed);
thmaure 0:a1d256e2cd41 29 stepPin = 0;
thmaure 0:a1d256e2cd41 30 wait(1/speed);
thmaure 0:a1d256e2cd41 31 }
thmaure 0:a1d256e2cd41 32
thmaure 0:a1d256e2cd41 33 void stepper::enable()
thmaure 0:a1d256e2cd41 34 {
thmaure 0:a1d256e2cd41 35 en = 0;
thmaure 0:a1d256e2cd41 36 }
thmaure 0:a1d256e2cd41 37
thmaure 0:a1d256e2cd41 38 void stepper::disable()
thmaure 0:a1d256e2cd41 39 {
thmaure 0:a1d256e2cd41 40 en = 1;
thmaure 0:a1d256e2cd41 41 }