ユニポーラステッピングモーター駆動用ライブラリ
Dependents: kisoken_PenPlotter
SPM.cpp@0:3e978f6d03d9, 2017-08-03 (annotated)
- Committer:
- Akito914
- Date:
- Thu Aug 03 06:49:26 2017 +0000
- Revision:
- 0:3e978f6d03d9
1,1-2,2?????????; ????????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Akito914 | 0:3e978f6d03d9 | 1 | |
Akito914 | 0:3e978f6d03d9 | 2 | #include "mbed.h" |
Akito914 | 0:3e978f6d03d9 | 3 | #include "SPM.h" |
Akito914 | 0:3e978f6d03d9 | 4 | |
Akito914 | 0:3e978f6d03d9 | 5 | stepMotor::stepMotor(PinName pinName_A , PinName pinName_nA , PinName pinName_B , PinName pinName_nB) |
Akito914 | 0:3e978f6d03d9 | 6 | : pin_A(pinName_A) , pin_nA(pinName_nA) , pin_B(pinName_B) , pin_nB(pinName_nB) { |
Akito914 | 0:3e978f6d03d9 | 7 | |
Akito914 | 0:3e978f6d03d9 | 8 | pin_A = pin_nA = pin_B = pin_nB = 0; |
Akito914 | 0:3e978f6d03d9 | 9 | state=0; |
Akito914 | 0:3e978f6d03d9 | 10 | |
Akito914 | 0:3e978f6d03d9 | 11 | } |
Akito914 | 0:3e978f6d03d9 | 12 | |
Akito914 | 0:3e978f6d03d9 | 13 | stepMotor::~stepMotor(){} |
Akito914 | 0:3e978f6d03d9 | 14 | |
Akito914 | 0:3e978f6d03d9 | 15 | void stepMotor::oneStep(bool direction){ |
Akito914 | 0:3e978f6d03d9 | 16 | |
Akito914 | 0:3e978f6d03d9 | 17 | #ifdef __P1_EXCITATION__ |
Akito914 | 0:3e978f6d03d9 | 18 | switch(state){ |
Akito914 | 0:3e978f6d03d9 | 19 | case 0 : pin_A = 1; pin_B = pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 20 | case 1 : pin_B = 1; pin_nA = pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 21 | case 2 : pin_nA = 1; pin_nB = pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 22 | case 3 : pin_nB = 1; pin_A = pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 23 | } |
Akito914 | 0:3e978f6d03d9 | 24 | if(direction){ |
Akito914 | 0:3e978f6d03d9 | 25 | if(state<3)state++; |
Akito914 | 0:3e978f6d03d9 | 26 | else state=0; |
Akito914 | 0:3e978f6d03d9 | 27 | }else{ |
Akito914 | 0:3e978f6d03d9 | 28 | if(state>0)state--; |
Akito914 | 0:3e978f6d03d9 | 29 | else state=3; |
Akito914 | 0:3e978f6d03d9 | 30 | } |
Akito914 | 0:3e978f6d03d9 | 31 | #elif defined __P12_EXCITATION__ |
Akito914 | 0:3e978f6d03d9 | 32 | switch(state){ |
Akito914 | 0:3e978f6d03d9 | 33 | case 0 : pin_A = 1; pin_B = pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 34 | case 1 : pin_A = pin_B = 1; pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 35 | case 2 : pin_B = 1; pin_nA = pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 36 | case 3 : pin_B = pin_nA = 1; pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 37 | case 4 : pin_nA = 1; pin_nB = pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 38 | case 5 : pin_nA = pin_nB = 1; pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 39 | case 6 : pin_nB = 1; pin_A = pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 40 | case 7 : pin_nB = pin_A = 1; pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 41 | } |
Akito914 | 0:3e978f6d03d9 | 42 | if(direction){ |
Akito914 | 0:3e978f6d03d9 | 43 | if(state<7)state++; |
Akito914 | 0:3e978f6d03d9 | 44 | else state=0; |
Akito914 | 0:3e978f6d03d9 | 45 | }else{ |
Akito914 | 0:3e978f6d03d9 | 46 | if(state>0)state--; |
Akito914 | 0:3e978f6d03d9 | 47 | else state=7; |
Akito914 | 0:3e978f6d03d9 | 48 | } |
Akito914 | 0:3e978f6d03d9 | 49 | #elif defined __P2_EXCITATION__ |
Akito914 | 0:3e978f6d03d9 | 50 | switch(state){ |
Akito914 | 0:3e978f6d03d9 | 51 | case 0 : pin_nB = pin_A = 1; pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 52 | case 1 : pin_A = pin_B = 1; pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 53 | case 2 : pin_B = pin_nA = 1; pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 54 | case 3 : pin_nA = pin_nB = 1; pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 55 | } |
Akito914 | 0:3e978f6d03d9 | 56 | if(direction){ |
Akito914 | 0:3e978f6d03d9 | 57 | if(state<3)state++; |
Akito914 | 0:3e978f6d03d9 | 58 | else state=0; |
Akito914 | 0:3e978f6d03d9 | 59 | }else{ |
Akito914 | 0:3e978f6d03d9 | 60 | if(state>0)state--; |
Akito914 | 0:3e978f6d03d9 | 61 | else state=3; |
Akito914 | 0:3e978f6d03d9 | 62 | } |
Akito914 | 0:3e978f6d03d9 | 63 | #endif |
Akito914 | 0:3e978f6d03d9 | 64 | |
Akito914 | 0:3e978f6d03d9 | 65 | } |
Akito914 | 0:3e978f6d03d9 | 66 | |
Akito914 | 0:3e978f6d03d9 | 67 | void stepMotor::free(){ |
Akito914 | 0:3e978f6d03d9 | 68 | pin_A = pin_nA = pin_B = pin_nB = 0; |
Akito914 | 0:3e978f6d03d9 | 69 | } |
Akito914 | 0:3e978f6d03d9 | 70 | |
Akito914 | 0:3e978f6d03d9 | 71 | void stepMotor::lock(){ |
Akito914 | 0:3e978f6d03d9 | 72 | #ifdef __P1_EXCITATION__ |
Akito914 | 0:3e978f6d03d9 | 73 | switch(state){ |
Akito914 | 0:3e978f6d03d9 | 74 | case 0 : pin_A = 1; pin_B = pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 75 | case 1 : pin_B = 1; pin_nA = pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 76 | case 2 : pin_nA = 1; pin_nB = pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 77 | case 3 : pin_nB = 1; pin_A = pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 78 | } |
Akito914 | 0:3e978f6d03d9 | 79 | #elif defined __P12_EXCITATION__ |
Akito914 | 0:3e978f6d03d9 | 80 | switch(state){ |
Akito914 | 0:3e978f6d03d9 | 81 | case 0 : pin_A = 1; pin_B = pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 82 | case 1 : pin_A = pin_B = 1; pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 83 | case 2 : pin_B = 1; pin_nA = pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 84 | case 3 : pin_B = pin_nA = 1; pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 85 | case 4 : pin_nA = 1; pin_nB = pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 86 | case 5 : pin_nA = pin_nB = 1; pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 87 | case 6 : pin_nB = 1; pin_A = pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 88 | case 7 : pin_nB = pin_A = 1; pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 89 | } |
Akito914 | 0:3e978f6d03d9 | 90 | #elif defined __P2_EXCITATION__ |
Akito914 | 0:3e978f6d03d9 | 91 | switch(state){ |
Akito914 | 0:3e978f6d03d9 | 92 | case 0 : pin_nB = pin_A = 1; pin_B = pin_nA = 0; break; |
Akito914 | 0:3e978f6d03d9 | 93 | case 1 : pin_A = pin_B = 1; pin_nA = pin_nB = 0; break; |
Akito914 | 0:3e978f6d03d9 | 94 | case 2 : pin_B = pin_nA = 1; pin_nB = pin_A = 0; break; |
Akito914 | 0:3e978f6d03d9 | 95 | case 3 : pin_nA = pin_nB = 1; pin_A = pin_B = 0; break; |
Akito914 | 0:3e978f6d03d9 | 96 | } |
Akito914 | 0:3e978f6d03d9 | 97 | #endif |
Akito914 | 0:3e978f6d03d9 | 98 | } |
Akito914 | 0:3e978f6d03d9 | 99 | |
Akito914 | 0:3e978f6d03d9 | 100 |