Projet ISIMA
/
essai_stepper
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Dependencies: mbed
Revision 0:a1d256e2cd41, committed 2015-05-21
- Comitter:
- thmaure
- Date:
- Thu May 21 14:21:25 2015 +0000
- Commit message:
- moteur pas ? pas
Changed in this revision
diff -r 000000000000 -r a1d256e2cd41 Stepper.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.cpp Thu May 21 14:21:25 2015 +0000
@@ -0,0 +1,41 @@
+#include "Stepper.h"
+#include "mbed.h"
+
+stepper::stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir):en(_en),
+ microstepping(ms1, ms2, ms3),
+ stepPin(_stepPin),
+ direction(dir)
+{
+}
+
+void stepper::step(int microstep, int dir, float speed)
+{
+ if (microstep == 1) {
+ microstepping = 0;
+ } else if (microstep <= 4) {
+ microstepping = microstep / 2;
+ } else if (microstep > 4) {
+ microstepping = (microstep / 2) - 1;
+ }
+ if (dir == 1) {
+ direction = 0;
+ } else if (dir == 0) {
+ direction = 1;
+ }
+
+ // Step...
+ stepPin = 1;
+ wait(1/speed);
+ stepPin = 0;
+ wait(1/speed);
+}
+
+void stepper::enable()
+{
+ en = 0;
+}
+
+void stepper::disable()
+{
+ en = 1;
+}
\ No newline at end of file
diff -r 000000000000 -r a1d256e2cd41 Stepper.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.h Thu May 21 14:21:25 2015 +0000
@@ -0,0 +1,19 @@
+#ifndef MBED_STEPPER_H
+#define MBED_STEPPER_H
+#endif
+
+#include "mbed.h"
+
+class stepper
+{
+public:
+ stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
+ void step(int microstep, int dir, float speed);
+ void enable();
+ void disable();
+private:
+ DigitalOut en;
+ BusOut microstepping;
+ DigitalOut stepPin;
+ DigitalOut direction;
+};
\ No newline at end of file
diff -r 000000000000 -r a1d256e2cd41 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu May 21 14:21:25 2015 +0000
@@ -0,0 +1,20 @@
+#include "mbed.h"
+
+DigitalOut enable(D2);
+PwmOut step(D3);
+PwmOut led(LED2);
+DigitalInOut mybut(USER_BUTTON);
+
+int main() {
+
+ enable=1;
+ step.period_ms(10);
+ step.pulsewidth_ms(5);
+ while(1){
+
+ enable=0;
+ wait(0.1);
+ enable=1;
+ wait(0.4);
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r a1d256e2cd41 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu May 21 14:21:25 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/487b796308b0 \ No newline at end of file