シーケンサ内蔵のステッピングモータドライバを制御します。
STM_seq.cpp@0:f270cfef9a60, 2019-01-10 (annotated)
- Committer:
- Akito914
- Date:
- Thu Jan 10 08:01:00 2019 +0000
- Revision:
- 0:f270cfef9a60
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Akito914 | 0:f270cfef9a60 | 1 | |
Akito914 | 0:f270cfef9a60 | 2 | #include "mbed.h" |
Akito914 | 0:f270cfef9a60 | 3 | #include "STM_seq.h" |
Akito914 | 0:f270cfef9a60 | 4 | |
Akito914 | 0:f270cfef9a60 | 5 | stepMotor::stepMotor(PinName pinName_CLK , PinName pinName_DIR , PinName pinName_Sleep , PinName pinName_Fault) |
Akito914 | 0:f270cfef9a60 | 6 | : pin_CLK(pinName_CLK) , pin_DIR(pinName_DIR) , pin_Sleep(pinName_Sleep) , pin_Fault(pinName_Fault) |
Akito914 | 0:f270cfef9a60 | 7 | { |
Akito914 | 0:f270cfef9a60 | 8 | |
Akito914 | 0:f270cfef9a60 | 9 | pin_CLK = 0; |
Akito914 | 0:f270cfef9a60 | 10 | pin_DIR = 0; |
Akito914 | 0:f270cfef9a60 | 11 | pin_Sleep = 0; |
Akito914 | 0:f270cfef9a60 | 12 | |
Akito914 | 0:f270cfef9a60 | 13 | } |
Akito914 | 0:f270cfef9a60 | 14 | |
Akito914 | 0:f270cfef9a60 | 15 | stepMotor::~stepMotor(){} |
Akito914 | 0:f270cfef9a60 | 16 | |
Akito914 | 0:f270cfef9a60 | 17 | void stepMotor::oneStep(bool direction) |
Akito914 | 0:f270cfef9a60 | 18 | { |
Akito914 | 0:f270cfef9a60 | 19 | |
Akito914 | 0:f270cfef9a60 | 20 | pin_DIR = direction?1:0; |
Akito914 | 0:f270cfef9a60 | 21 | wait_us(2); |
Akito914 | 0:f270cfef9a60 | 22 | pin_CLK = 1; |
Akito914 | 0:f270cfef9a60 | 23 | wait_us(2); |
Akito914 | 0:f270cfef9a60 | 24 | pin_CLK = 0; |
Akito914 | 0:f270cfef9a60 | 25 | |
Akito914 | 0:f270cfef9a60 | 26 | } |
Akito914 | 0:f270cfef9a60 | 27 | |
Akito914 | 0:f270cfef9a60 | 28 | void stepMotor::setSleep(bool enable) |
Akito914 | 0:f270cfef9a60 | 29 | { |
Akito914 | 0:f270cfef9a60 | 30 | pin_Sleep = enable?1:0; |
Akito914 | 0:f270cfef9a60 | 31 | } |
Akito914 | 0:f270cfef9a60 | 32 | |
Akito914 | 0:f270cfef9a60 | 33 | bool stepMotor::getSleep() |
Akito914 | 0:f270cfef9a60 | 34 | { |
Akito914 | 0:f270cfef9a60 | 35 | return (pin_Sleep != 0); |
Akito914 | 0:f270cfef9a60 | 36 | } |
Akito914 | 0:f270cfef9a60 | 37 | |
Akito914 | 0:f270cfef9a60 | 38 | bool stepMotor::getFault() |
Akito914 | 0:f270cfef9a60 | 39 | { |
Akito914 | 0:f270cfef9a60 | 40 | return (pin_Fault != 0); |
Akito914 | 0:f270cfef9a60 | 41 | } |
Akito914 | 0:f270cfef9a60 | 42 | |
Akito914 | 0:f270cfef9a60 | 43 | |
Akito914 | 0:f270cfef9a60 | 44 |