Daniel Vizcaya
/
04_RTOS_Embebidos
Entrega 3er corte - sistemas embebidos
stepmotor.cpp@1:fcdb45ee95b9, 2018-05-30 (annotated)
- Committer:
- Bethory
- Date:
- Wed May 30 04:46:28 2018 +0000
- Revision:
- 1:fcdb45ee95b9
- Parent:
- 0:6ad07c9019fd
Entrega Final
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Bethory | 0:6ad07c9019fd | 1 | #include "stepmotor.h" |
Bethory | 0:6ad07c9019fd | 2 | #include "mbed.h" |
Bethory | 0:6ad07c9019fd | 3 | |
Bethory | 0:6ad07c9019fd | 4 | |
Bethory | 0:6ad07c9019fd | 5 | |
Bethory | 0:6ad07c9019fd | 6 | |
Bethory | 0:6ad07c9019fd | 7 | |
Bethory | 0:6ad07c9019fd | 8 | |
Bethory | 0:6ad07c9019fd | 9 | stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4) : motor_out(in1,in2,in3,in4) { |
Bethory | 0:6ad07c9019fd | 10 | |
Bethory | 0:6ad07c9019fd | 11 | |
Bethory | 0:6ad07c9019fd | 12 | motor_out=0x0; |
Bethory | 0:6ad07c9019fd | 13 | nstep=0; |
Bethory | 0:6ad07c9019fd | 14 | motorSpeed=1100; |
Bethory | 0:6ad07c9019fd | 15 | |
Bethory | 0:6ad07c9019fd | 16 | } |
Bethory | 0:6ad07c9019fd | 17 | |
Bethory | 0:6ad07c9019fd | 18 | |
Bethory | 0:6ad07c9019fd | 19 | void stepmotor::move() { |
Bethory | 0:6ad07c9019fd | 20 | |
Bethory | 0:6ad07c9019fd | 21 | switch(nstep) |
Bethory | 0:6ad07c9019fd | 22 | { |
Bethory | 0:6ad07c9019fd | 23 | case 0: motor_out = 0x1; break; // 0001 |
Bethory | 0:6ad07c9019fd | 24 | case 1: motor_out = 0x3; break; // 0011 |
Bethory | 0:6ad07c9019fd | 25 | case 2: motor_out = 0x2; break; // 0010 |
Bethory | 0:6ad07c9019fd | 26 | case 3: motor_out = 0x6; break; // 0110 |
Bethory | 0:6ad07c9019fd | 27 | case 4: motor_out = 0x4; break; // 0100 |
Bethory | 0:6ad07c9019fd | 28 | case 5: motor_out = 0xC; break; // 1100 |
Bethory | 0:6ad07c9019fd | 29 | case 6: motor_out = 0x8; break; // 1000 |
Bethory | 0:6ad07c9019fd | 30 | case 7: motor_out = 0x9; break; // 1001 |
Bethory | 0:6ad07c9019fd | 31 | |
Bethory | 0:6ad07c9019fd | 32 | default: motor_out = 0x0; break; // 0000 |
Bethory | 0:6ad07c9019fd | 33 | } |
Bethory | 0:6ad07c9019fd | 34 | wait_us(motorSpeed); |
Bethory | 0:6ad07c9019fd | 35 | |
Bethory | 0:6ad07c9019fd | 36 | } |
Bethory | 0:6ad07c9019fd | 37 | |
Bethory | 0:6ad07c9019fd | 38 | void stepmotor::set_speed(int speed){ |
Bethory | 0:6ad07c9019fd | 39 | motorSpeed=speed; //set motor speed us |
Bethory | 0:6ad07c9019fd | 40 | } |
Bethory | 0:6ad07c9019fd | 41 | uint32_t stepmotor::get_speed(){ |
Bethory | 0:6ad07c9019fd | 42 | return motorSpeed; // |
Bethory | 0:6ad07c9019fd | 43 | } |
Bethory | 0:6ad07c9019fd | 44 | |
Bethory | 0:6ad07c9019fd | 45 | void stepmotor::step(uint32_t num_steps, bool cw) { |
Bethory | 0:6ad07c9019fd | 46 | // funcion para mover el motor N pasos CW o CCW |
Bethory | 0:6ad07c9019fd | 47 | // num_steps número de paso que da el motor |
Bethory | 0:6ad07c9019fd | 48 | // cw =True para dirección en sentido del reloj |
Bethory | 0:6ad07c9019fd | 49 | // cw =False para dirección contraria de las manecillas del reloj |
Bethory | 0:6ad07c9019fd | 50 | |
Bethory | 0:6ad07c9019fd | 51 | uint32_t count=num_steps ; |
Bethory | 0:6ad07c9019fd | 52 | while(count){ |
Bethory | 0:6ad07c9019fd | 53 | if (cw) nstep++; |
Bethory | 0:6ad07c9019fd | 54 | else nstep--; |
Bethory | 0:6ad07c9019fd | 55 | if (nstep>7) nstep=0; |
Bethory | 0:6ad07c9019fd | 56 | if (nstep<0) nstep=7; |
Bethory | 0:6ad07c9019fd | 57 | move(); |
Bethory | 0:6ad07c9019fd | 58 | count--; |
Bethory | 0:6ad07c9019fd | 59 | |
Bethory | 0:6ad07c9019fd | 60 | } |
Bethory | 0:6ad07c9019fd | 61 | |
Bethory | 0:6ad07c9019fd | 62 | } |