Diff: brushlessController_L293D.cpp

Revision:

1:f7babaac1149

Parent:

0:9df79ea8037e

Child:

2:ac825be76379

--- a/brushlessController_L293D.cpp	Mon Jul 13 14:12:10 2015 +0000
+++ b/brushlessController_L293D.cpp	Tue Jul 14 07:35:41 2015 +0000
@@ -37,4 +37,31 @@
         wait_ms(delay_time);   
         if(++stepCount == stepNum) break;    
     }   
-}
\ No newline at end of file
+}
+
+void oneStep(bool dir, int delay_time, int* prevStep)
+{
+    /* Digital outputs are initially zero */
+    out1 = 0; out2 = 0; out3 = 0;
+    
+    /* Enable the outputs initially */
+    en1 = 1; en2 = 1; en3 = 1; 
+    
+      /* Magical data_array to drive the brushless motor */ 
+    // HIGH:1, LOW:0, HIGH-Z:2
+    char data_array[]={1,2,0, 1,0,2, 2,0,1, 0,2,1, 0,1,2, 2,1,0};
+    char data_arrayInv[]={0,1,2, 0,2,1, 2,0,1, 1,0,2, 1,2,0, 2,1,0};
+    
+    if(dir==1)      // if dir = 1, reverse the motor direction
+        for(int k=0; k<18; k++)
+            data_array[k] = data_arrayInv[k];
+    
+    int i = *prevStep;
+    i%=6;                         // Steps will be repeated at mod6
+    *prevStep = *prevStep + 1;    // Increase prevStep for next step || WARNING: *prevStep++ did not work
+    
+    out1 = data_array[3*i];    (data_array[3*i]   == 2)?(en1 = 0):(en1 = 1);   
+    out2 = data_array[3*i+1];  (data_array[3*i+1] == 2)?(en2 = 0):(en2 = 1); 
+    out3 = data_array[3*i+2];  (data_array[3*i+2] == 2)?(en3 = 0):(en3 = 1);   
+    wait_ms(delay_time);  
+}