Diff: Stepper_motor.cpp

Revision:

0:2e00b81c9137

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper_motor.cpp	Fri May 11 06:06:10 2018 +0000
@@ -0,0 +1,64 @@
+#include "Stepper_motor.h"
+
+Stepper_motor::Stepper_motor(PinName _en,PinName _stepPin,PinName _dirPin,PinName Inter,int _ratio,int _micorstep,int _dir,float _rec):Stepper(_en,_stepPin,_dirPin),InterruptIn(Inter)
+{
+    ratio = _ratio;
+    microstep = _micorstep;
+    dir = _dir;
+    Ori_rec = _rec;
+    pos_dir = 1;
+    this->enable();
+}
+
+void Stepper_motor::Config(float rec_rate,float rec)
+{
+    if(rec < 0 && rec != -1)
+    {
+        rec_rate = 0 - rec_rate;
+        rec = 0 - rec;
+    }
+    long long int frequency = rec_rate * ratio * microstep / Ori_rec;
+    if(frequency < 0)
+    {
+        dir = 1 - pos_dir;
+        frequency = 0 - frequency;
+    }
+    else if(frequency == 0)
+    {
+        this->disable();
+        return;
+    }
+    else if(frequency > 0)
+    {
+        dir = pos_dir;
+    }
+    long long int remain = rec * ratio * microstep / Ori_rec;
+    this->enable();
+    this->step(dir,frequency,remain);
+    
+}
+
+int Stepper_motor::getDir()
+{
+    return this->dir;
+}
+void Stepper_motor::reConfig(float _rec)
+{   
+    dir = 1 - dir;
+    long long int frequency = 5 * ratio * microstep / Ori_rec;
+    long long int remain = _rec * ratio * microstep / Ori_rec;
+    this->enable();
+    this->step(dir,frequency,remain);
+}
+void Stepper_motor::set()
+{
+    this -> Config(0,0);
+    wait(0.01);
+    this -> enable();
+    this -> Config(-5,7);
+}
+void Stepper_motor::Init()
+{
+    this->Config(10,-1);
+    this->fall(this,&Stepper_motor::set); 
+}
\ No newline at end of file