Adelie Wagner / StepperMotorX2Y

A simple stepper motor driver library, supporting micro-stepping drivers.

Dependents:   Test_LCDTS_UI_StepperMove

Table.cpp@2:97b1bc1f0b5f, 2020-11-14 (annotated)

Committer:
Abdel64
Date:
Sat Nov 14 11:44:18 2020 +0000
Revision:
2:97b1bc1f0b5f
Compile OK incl. Table class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Abdel64 2:97b1bc1f0b5f 1 #include "Table.h"
Abdel64 2:97b1bc1f0b5f 2
Abdel64 2:97b1bc1f0b5f 3 table::table(table_pins tablepin):stepper_X(0),steppers_Y(0)
Abdel64 2:97b1bc1f0b5f 4 {
Abdel64 2:97b1bc1f0b5f 5 stepper_X = new stepper(tablepin.X_en,tablepin.X_stepPin,tablepin.X_dir);
Abdel64 2:97b1bc1f0b5f 6 steppers_Y = new steppers(tablepin.Y_en,tablepin.Y_stepPin,tablepin.Y_dirG,tablepin.Y_dirD);
Abdel64 2:97b1bc1f0b5f 7 }
Abdel64 2:97b1bc1f0b5f 8
Abdel64 2:97b1bc1f0b5f 9 void table::move(position pos_current, position pos_togo, float speed)
Abdel64 2:97b1bc1f0b5f 10 {
Abdel64 2:97b1bc1f0b5f 11 while (pos_current == pos_togo)
Abdel64 2:97b1bc1f0b5f 12 {
Abdel64 2:97b1bc1f0b5f 13 if (pos_current.X > pos_togo.X) {
Abdel64 2:97b1bc1f0b5f 14 stepper_X->step(1,speed);
Abdel64 2:97b1bc1f0b5f 15 pos_current.X = pos_current.X - 0.25;
Abdel64 2:97b1bc1f0b5f 16 } else if (pos_current.X < pos_togo.X) {
Abdel64 2:97b1bc1f0b5f 17 stepper_X->step(0,speed);
Abdel64 2:97b1bc1f0b5f 18 pos_current.X = pos_current.X + 0.25;
Abdel64 2:97b1bc1f0b5f 19 }
Abdel64 2:97b1bc1f0b5f 20 if (pos_current.Y > pos_togo.Y) {
Abdel64 2:97b1bc1f0b5f 21 steppers_Y->step(1,speed);
Abdel64 2:97b1bc1f0b5f 22 pos_current.Y = pos_current.Y - 0.25;
Abdel64 2:97b1bc1f0b5f 23 } else if (pos_current.Y < pos_togo.Y) {
Abdel64 2:97b1bc1f0b5f 24 steppers_Y->step(0,speed);
Abdel64 2:97b1bc1f0b5f 25 pos_current.Y = pos_current.Y + 0.25;
Abdel64 2:97b1bc1f0b5f 26 }
Abdel64 2:97b1bc1f0b5f 27 }
Abdel64 2:97b1bc1f0b5f 28 }