Diff: StepperDriver.cpp

Revision:

0:12be56dc6182

Child:

1:9888802e71b9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StepperDriver.cpp	Thu Dec 01 13:35:45 2016 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+#include "StepperDriver.h"
+
+StepperDriver::StepperDriver(PinName outputPin, PinName directionPin) : output(outputPin), direction(directionPin) {
+    currentPosition = previousPosition = desiredPosition = 0;
+    maxPosition = 500;
+    minPosition = 0;
+    homePosition = (maxPosition - minPosition) / 2;
+}
+
+void StepperDriver::setPosition(uint32_t position) {
+    if (position >= minPosition && position <= maxPosition) {
+        desiredPosition = position;
+    }
+    if (desiredPosition != currentPosition && !isTickerAttached) {
+        attachTicker();
+    }
+}
+
+void StepperDriver::update() {
+    if (desiredPosition > currentPosition) {
+        direction = 1;
+        currentPosition++;
+        generateImpulse();
+    } else if (desiredPosition < currentPosition) {
+        direction = 0;
+        currentPosition--;
+        generateImpulse();
+    } else {
+        detachTicker();
+    }
+    previousPosition = currentPosition;
+}
+
+void StepperDriver::attachTicker() {
+    ticker.attach(this, &StepperDriver::update, 4e-3);
+    isTickerAttached = true;
+}
+
+void StepperDriver::detachTicker() {
+    ticker.detach();
+    isTickerAttached = false;
+}
+
+void StepperDriver::generateImpulse() {
+    output = 1;
+    timeout.attach(this, &StepperDriver::turnOutputOff, 100e-6);
+}
+
+void StepperDriver::turnOutputOff() {
+    output = 0;
+}
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