![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
The servo version of SCRIBE
Dependencies: BLE_nRF8001 BNO055 HC_SR04_Ultrasonic_Library mbed-rtos mbed
Fork of SCRIBE_stepper by
Diff: stepper.cpp
- Revision:
- 5:1da4d4050306
- Parent:
- 3:63aef644e6d2
--- a/stepper.cpp Sat Apr 23 02:46:30 2016 +0000 +++ b/stepper.cpp Mon Apr 25 05:38:48 2016 +0000 @@ -11,60 +11,75 @@ DigitalOut black_r(p20); int wait_t = 60; +int case_stepf = 0; int case_right = 0; int case_left = 0; +int case_rone = 0; //StepperMotorUni motor( p17, p18, p19, p20); int step_f(){ - //step 0101 - black_l = 0; - orange_l = 0; - brown_l = 1; - yellow_l = 1; - black_r = 1; - orange_r = 0; - brown_r = 0; - yellow_r = 1; - - wait_ms(wait_t); - - //step 1100 - black_l = 0; - orange_l = 1; - brown_l = 1; - yellow_l = 0; - black_r = 1; - orange_r = 1; - brown_r = 0; - yellow_r = 0; - - wait_ms(wait_t); - - //step 1010 - black_l = 1; - orange_l = 1; - brown_l = 0; - yellow_l = 0; - black_r = 0; - orange_r = 1; - brown_r = 1; - yellow_r = 0; - - wait_ms(wait_t); - - //step 0011 - black_l = 1; - orange_l = 0; - brown_l = 0; - yellow_l = 1; - black_r = 0; - orange_r = 0; - brown_r = 1; - yellow_r = 1; - - wait_ms(wait_t); - + switch(case_stepf){ + case 0: + //step 0101 + black_l = 0; + orange_l = 0; + brown_l = 1; + yellow_l = 1; + black_r = 1; + orange_r = 0; + brown_r = 0; + yellow_r = 1; + + wait_ms(wait_t); + case_stepf=1; + break; + + case 1: + //step 1100 + black_l = 0; + orange_l = 1; + brown_l = 1; + yellow_l = 0; + black_r = 1; + orange_r = 1; + brown_r = 0; + yellow_r = 0; + + wait_ms(wait_t); + case_stepf=2; + break; + + case 2: + //step 1010 + black_l = 1; + orange_l = 1; + brown_l = 0; + yellow_l = 0; + black_r = 0; + orange_r = 1; + brown_r = 1; + yellow_r = 0; + + wait_ms(wait_t); + case_stepf = 3; + break; + + case 3: + //step 0011 + black_l = 1; + orange_l = 0; + brown_l = 0; + yellow_l = 1; + black_r = 0; + orange_r = 0; + brown_r = 1; + yellow_r = 1; + + wait_ms(wait_t); + case_stepf = 0; + break; + } return 1; } @@ -251,3 +266,54 @@ } return 1; } + +int step_rone(){ + switch(case_rone){ + case 0: + //step 0101 + black_r = 0; + orange_r = 0; + brown_r = 1; + yellow_r = 1; + + wait_ms(wait_t); + case_right = 1; + break; + + case 1: + //step 1100 + black_r = 0; + orange_r = 1; + brown_r = 1; + yellow_r = 0; + + wait_ms(wait_t); + case_right = 2; + break; + + + case 2: + //step 1010 + black_r = 1; + orange_r = 1; + brown_r = 0; + yellow_r = 0; + + wait_ms(wait_t); + case_right = 3; + break; + + + case 3: + //step 0011 + black_r = 1; + orange_r = 0; + brown_r = 0; + yellow_r = 1; + + wait_ms(wait_t); + case_right = 0; + break; + } + return 1; +}