Diff: stepper.cpp

Revision:

0:83acd45a2405

Child:

2:63aef644e6d2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stepper.cpp	Thu Apr 21 22:01:19 2016 +0000
@@ -0,0 +1,252 @@
+#include "mbed.h";
+
+DigitalOut yellow_l(p9);
+DigitalOut orange_l(p14);
+DigitalOut brown_l(p15);
+DigitalOut black_l(p16);
+
+DigitalOut yellow_r(p17);
+DigitalOut orange_r(p18);
+DigitalOut brown_r(p19);
+DigitalOut black_r(p20);
+
+int wait_t = 60;
+int case_right = 0;
+int case_left = 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);
+
+    return 1;
+}
+
+
+int step_b(){ 
+        //step 0101
+    black_r = 0;
+    orange_r = 0;
+    brown_r = 1;
+    yellow_r = 1;
+    black_l = 1;
+    orange_l = 0;
+    brown_l = 0;
+    yellow_l = 1;
+    
+    wait_ms(wait_t);
+    
+    //step 1100
+    black_r = 0;
+    orange_r = 1;
+    brown_r = 1;
+    yellow_r = 0;
+    black_l = 1;
+    orange_l = 1;
+    brown_l = 0;
+    yellow_l = 0;
+    
+    wait_ms(wait_t);
+    
+    //step 1010
+    black_r = 1;
+    orange_r = 1;
+    brown_r = 0;
+    yellow_r = 0;
+    black_l = 0;
+    orange_l = 1;
+    brown_l = 1;
+    yellow_l = 0;
+    
+    wait_ms(wait_t);
+    
+    //step 0011
+    black_r = 1;
+    orange_r = 0;
+    brown_r = 0;
+    yellow_r = 1;
+    black_l = 0;
+    orange_l = 0;
+    brown_l = 1;
+    yellow_l = 1;
+    
+    wait_ms(wait_t);
+
+    return 1;
+}
+
+int step_right(){
+    switch(case_right){
+        case 0:
+            //step 0101
+            black_r = 0;
+            orange_r = 0;
+            brown_r = 1;
+            yellow_r = 1;
+            black_l = 0;
+            orange_l = 0;
+            brown_l = 1;
+            yellow_l = 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;
+            black_l = 0;
+            orange_l = 1;
+            brown_l = 1;
+            yellow_l = 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;
+            black_l = 1;
+            orange_l = 1;
+            brown_l = 0;
+            yellow_l = 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;
+            black_l = 1;
+            orange_l = 0;
+            brown_l = 0;
+            yellow_l = 1;
+            
+            wait_ms(wait_t);
+            case_right = 0;
+            break;
+    }
+    return 1;
+}
+
+
+int step_left(){ 
+    switch(case_left){
+        case 0:
+            //step 0011
+            black_l = 1;
+            orange_l = 0;
+            brown_l = 0;
+            yellow_l = 1;
+            black_r = 1;
+            orange_r = 0;
+            brown_r = 0;
+            yellow_r = 1;
+            
+            wait_ms(wait_t);
+            case_left = 1;
+            break;
+            
+        case 1:
+            black_l = 1;
+            orange_l = 1;
+            brown_l = 0;
+            yellow_l = 0;
+            black_r = 1;
+            orange_r = 1;
+            brown_r = 0;
+            yellow_r = 0;
+            
+            wait_ms(wait_t);
+            case_left = 2;
+            break;
+        
+        case 2:
+            black_l = 0;
+            orange_l = 1;
+            brown_l = 1;
+            yellow_l = 0;
+            black_r = 0;
+            orange_r = 1;
+            brown_r = 1;
+            yellow_r = 0;
+            
+            wait_ms(wait_t);
+            case_left = 3;
+            break;
+        
+        case 3:
+            black_l = 0;
+            orange_l = 0;
+            brown_l = 1;
+            yellow_l = 1;
+            black_r = 0;
+            orange_r = 0;
+            brown_r = 1;
+            yellow_r = 1;
+            
+            wait_ms(wait_t);
+            
+            case_left = 0;
+            break;
+    }
+    return 1;
+}