Diff: stepper.cpp

Revision:

6:ca112c3083bb

Parent:

5:2c196f871096

--- a/stepper.cpp	Wed May 04 23:51:57 2016 +0000
+++ b/stepper.cpp	Thu May 12 06:12:45 2016 +0000
@@ -11,16 +11,17 @@
 DigitalOut brown_r(p19);
 DigitalOut black_r(p20);
 
-int wait_t = 60;
+int wait_t = 20;
 int case_stepf = 0;
+int case_stepb = 0;
 int case_right = 0;
 int case_left = 0;
 int case_rone = 0;
 
 
 //StepperMotorUni motor( p17, p18, p19, p20);
-int step_f(){
-    switch(case_stepf){
+int step_b(){
+    switch(case_stepb){
         case 0:  
             //step 0101
             black_l = 0;
@@ -33,7 +34,7 @@
             yellow_r = 1;
             
             wait_ms(wait_t);
-            case_stepf=1;
+            case_stepb=1;
             break;
             
         case 1:
@@ -48,7 +49,7 @@
             yellow_r = 0;
             
             wait_ms(wait_t);
-            case_stepf=2;
+            case_stepb=2;
             break;
             
         case 2:
@@ -63,7 +64,7 @@
             yellow_r = 0;
             
             wait_ms(wait_t);
-            case_stepf = 3;
+            case_stepb = 3;
             break;
         
         case 3:
@@ -78,62 +79,75 @@
             yellow_r = 1;
             
             wait_ms(wait_t);
-            case_stepf = 0;
+            case_stepb = 0;
             break;
     }
     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);
-
+int step_f(){
+    switch(case_stepf){
+        case 0:   
+            //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);
+            case_stepf = 1;
+            break;
+        
+        case 1:
+            //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);
+            case_stepf = 2;
+            break;
+            
+        case 2:
+            //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);
+            case_stepf = 3;
+            break;
+            
+        case 3:
+            //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);
+            case_stepf = 0;
+            break;
+    }
     return 1;
 }