Diff: inc/example2.h

Revision:

4:7b7940df7865

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/example2.h	Fri May 20 09:13:31 2011 +0000
@@ -0,0 +1,54 @@
+
+#include "mbed.h"
+#include "SimpleStepperProfiler.h"
+
+SimpleStepperOutput led1(LED1);
+
+// SimpleStepperOutput is basically the same as
+// Mbed's DigitalOut class. However, it's more
+// portable to other platforms without having
+// to also port the entire Mbed library.
+SimpleStepperOutput sdir0(p17);
+
+// Create four stepper profilers.
+// Stepper0 has the pulse output on p8 and dir on p17
+SimpleStepperProfiler stepper0(p8, &sdir0);
+
+int main() {
+    
+    // We do not need to maintain the stepper position
+    // for this simple example. This reduces the amount
+    // of work the ISR has to do.
+    stepper0.setMaintainPositionData(false);
+    
+    // Set all steppers to top speed of 5000 pulses/second.
+    // Because we are using the SimpleStepperProfiler then
+    // the accel will be 1000pps/s, so to reach 5000pps will
+    // take 5seconds.
+    
+    // The accel profile can be adjusted by altering the profilers
+    // step value and poll interval. The default step value is 10
+    // each poll interval and the default poll interval is 10ms.
+    // This equates to 100 * 10 = 1000pps/s. Adjust as required
+    // using :-
+    //   setStepPos(int i); where i is the step value +/- each poll interval accel
+    //   setStepNeg(int i); where i is the step value +/- each poll interval decel
+    //   setPollInterval(int i) where i is the poll interval in microseconds.
+    
+    stepper0.setSpeed(5000);
+    while(stepper0.getSpeed() != 5000); // wait to reach speed.
+    
+    // Decel stepper to halt/stop.
+    stepper0.setSpeed(0);
+    while(stepper0.getSpeed() != 0); // wait to reach speed.
+    
+    // Set speed but peform async emergency stop while accelerating.
+    stepper0.setSpeed(5000);
+    wait(2.5);
+    stepper0.eStop();
+    
+    while(1) {
+        led1 = !led1;
+        wait(0.2);        
+    }
+}