Diff: Stepper.cpp

Revision:

0:b0c267f9cc05

Child:

2:bfdd7246ac5e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.cpp	Fri Mar 03 10:26:11 2017 +0000
@@ -0,0 +1,121 @@
+#include "Stepper.h"
+#include "mbed.h"
+  
+Stepper::Stepper(PinName Coil1, PinName Coil2, PinName Coil3, PinName Coil4) : _Coils(Coil1, Coil2, Coil3, Coil4)
+{
+    _Coils = 0;
+    stepcount = 0;
+    Prevtime = 0;
+    secinter = 0.5;
+    lastsecinter = 0;
+    StepDir = 1;
+    stepping = 0;
+    stepincr = 0;
+    stepper_steps[0] = 0x09;
+    stepper_steps[1] = 0x0A;
+    stepper_steps[2] = 0x06;
+    stepper_steps[3] = 0x05;
+    
+}
+ 
+void Stepper::Run() 
+{   
+   
+    run = 1; 
+    stepping = 0;
+    
+    if(secinter != lastsecinter) 
+    {  
+        ticker.attach(this, &Stepper::stepper_isr,secinter);
+        lastsecinter = secinter;
+    }
+}
+
+void Stepper::Stop() 
+{
+    run = 0;
+    stepping = 0;
+
+    
+}
+
+void Stepper::Direction(int dir) 
+{   
+    if(dir == 1)
+    {
+        StepDir = 1;
+    }
+    else if(dir == -1)
+    {
+        StepDir = -1;  
+    }
+}
+
+void Stepper::Interval(float sec) 
+{
+    secinter = sec;
+    if(secinter != lastsecinter) 
+    {  
+        ticker.attach(this, &Stepper::stepper_isr,secinter);
+        lastsecinter = secinter;
+    }
+}
+
+void Stepper::Step(int steps)
+{
+    Steps = steps;
+    stepincr = 0;
+    run = 0;
+    stepping = 1;
+    
+    if(secinter != lastsecinter) 
+    {  
+        ticker.attach(this, &Stepper::stepper_isr,secinter);
+        lastsecinter = secinter;
+    }
+    
+    
+}
+
+void Stepper::stepper_isr()
+{
+    if(run == 1)
+    { 
+        _Coils = stepper_steps[stepcount];
+             
+        stepcount = stepcount + StepDir;
+        
+        if(stepcount > 3)
+        {
+            stepcount = 0;    
+        }
+        if(stepcount < 0)
+        {
+            stepcount = 3;    
+        }
+         
+    }
+    
+    if(stepping == 1 && stepincr < Steps)
+    { 
+        _Coils = stepper_steps[stepcount];
+             
+        stepcount = stepcount + StepDir;
+        stepincr++;
+        
+        if(stepcount > 3)
+        {
+            stepcount = 0;    
+        }
+        if(stepcount < 0)
+        {
+            stepcount = 3;    
+        }
+         
+    }
+
+    
+    
+}
+
+       
\ No newline at end of file