Revision 2:97b1bc1f0b5f, committed 2020-11-14

Comitter:

Abdel64

Date:

Sat Nov 14 11:44:18 2020 +0000

Parent:

1:d453a05ce39e

Commit message:

Compile OK incl. Table class

Changed in this revision

--- a/Stepper.cpp	Wed Nov 11 11:10:28 2020 +0000
+++ b/Stepper.cpp	Sat Nov 14 11:44:18 2020 +0000
@@ -1,5 +1,4 @@
 #include "Stepper.h"
-#include "mbed.h"
 
 stepper::stepper(PinName _en, PinName _stepPin, PinName _dir):
     en(_en),
@@ -12,10 +11,6 @@
     stepper(_en,_stepPin,_dirG),
     dirD(_dirD)
 {}
-
-/*void stepper::move(float pos_current, float pos_togo, float speed)
-{
-    if ( */
     
 void stepper::step(int direction, float speed)
 {

--- a/Stepper.h	Wed Nov 11 11:10:28 2020 +0000
+++ b/Stepper.h	Sat Nov 14 11:44:18 2020 +0000
@@ -1,18 +1,17 @@
 #ifndef MBED_STEPPER_H
 #define MBED_STEPPER_H
-#endif
 
 #include "mbed.h"
 
 class stepper
 {
 public:
+    stepper();
     stepper(PinName _en, PinName _stepPin, PinName _dir);
-    //void move(float pos_current, float pos_togo, float speed);
+    void step (int direction, float speed);
     void enable();
     void disable();
 protected:
-    void step (int direction, float speed);
     DigitalOut en;
     DigitalOut stepPin;
     DigitalOut dir;
@@ -25,4 +24,6 @@
     void step (int direction, float speed);
 protected:
     DigitalOut dirD;
-};
\ No newline at end of file
+};
+
+#endif // DEFINE MBED_STEPPER_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Table.cpp	Sat Nov 14 11:44:18 2020 +0000
@@ -0,0 +1,28 @@
+#include "Table.h"
+
+table::table(table_pins tablepin):stepper_X(0),steppers_Y(0)
+{  
+   stepper_X = new stepper(tablepin.X_en,tablepin.X_stepPin,tablepin.X_dir);
+   steppers_Y = new steppers(tablepin.Y_en,tablepin.Y_stepPin,tablepin.Y_dirG,tablepin.Y_dirD);
+}
+
+void table::move(position pos_current, position pos_togo, float speed)
+{
+    while (pos_current == pos_togo)
+    {
+        if (pos_current.X > pos_togo.X) {
+            stepper_X->step(1,speed);
+            pos_current.X = pos_current.X - 0.25; 
+        } else if (pos_current.X < pos_togo.X) {
+            stepper_X->step(0,speed);
+            pos_current.X = pos_current.X + 0.25; 
+        }
+        if (pos_current.Y > pos_togo.Y) {
+            steppers_Y->step(1,speed);
+            pos_current.Y = pos_current.Y - 0.25; 
+        } else if (pos_current.Y < pos_togo.Y) {
+            steppers_Y->step(0,speed);
+            pos_current.Y = pos_current.Y + 0.25;
+        }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Table.h	Sat Nov 14 11:44:18 2020 +0000
@@ -0,0 +1,36 @@
+#ifndef MBED_TABLE_H
+#define MBED_TABLE_H
+
+#include "Stepper.h"
+
+struct table_pins
+{
+    PinName X_en;
+    PinName X_stepPin;
+    PinName X_dir;
+    PinName Y_en;
+    PinName Y_stepPin;
+    PinName Y_dirG;
+    PinName Y_dirD;
+};
+
+struct position 
+{
+    float X;
+    float Y;
+};
+
+bool operator == (const position &pos1, const position &pos2){ 
+    return (pos1.X == pos2.X) && (pos1.Y == pos2.Y); }
+
+class table
+{
+public:
+    table(table_pins _tablepin) ;
+    void move(position pos_current, position pos_togo, float speed);   
+private:
+    stepper *stepper_X;
+    steppers *steppers_Y;
+};
+
+#endif // MBED_TABLE_H
\ No newline at end of file