Diego Rivera / MotorAPasos

Motor a pasos bipolar

Dependents:   RampaDiscapacitados

MotorAPasos.cpp@1:34a6a7784d9e, 2016-03-07 (annotated)

Committer:
DiegoRivera
Date:
Mon Mar 07 04:37:11 2016 +0000
Revision:
1:34a6a7784d9e
Parent:
0:40987d1d44d7 
Ad dc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DiegoRivera 0:40987d1d44d7 1 #include "MotorAPasos.h"
DiegoRivera 0:40987d1d44d7 2 #include "mbed.h"
DiegoRivera 0:40987d1d44d7 3
DiegoRivera 0:40987d1d44d7 4 MotorAPasos::MotorAPasos (PinName pin1, PinName pin2, PinName pin3, PinName pin4) : motor (pin1, pin2, pin3, pin4)
DiegoRivera 0:40987d1d44d7 5 {
DiegoRivera 1:34a6a7784d9e 6 // pos=0b0110;
DiegoRivera 1:34a6a7784d9e 7 pos=0b0001;
DiegoRivera 0:40987d1d44d7 8 motor=0;
DiegoRivera 0:40987d1d44d7 9 vel=.1;
DiegoRivera 0:40987d1d44d7 10 }
DiegoRivera 0:40987d1d44d7 11
DiegoRivera 0:40987d1d44d7 12 void MotorAPasos::derecha()
DiegoRivera 0:40987d1d44d7 13 {
DiegoRivera 1:34a6a7784d9e 14 /*
DiegoRivera 0:40987d1d44d7 15 if (pos==0b0110)
DiegoRivera 0:40987d1d44d7 16 pos=0b0101;
DiegoRivera 0:40987d1d44d7 17 else
DiegoRivera 0:40987d1d44d7 18 if (pos==0b0101)
DiegoRivera 0:40987d1d44d7 19 pos=0b1001;
DiegoRivera 0:40987d1d44d7 20 else
DiegoRivera 0:40987d1d44d7 21 if (pos==0b1001)
DiegoRivera 0:40987d1d44d7 22 pos=0b1010;
DiegoRivera 0:40987d1d44d7 23 else
DiegoRivera 0:40987d1d44d7 24 if (pos==0b1010)
DiegoRivera 1:34a6a7784d9e 25 pos=0b0110;*/
DiegoRivera 1:34a6a7784d9e 26 /* if (pos==0b0001)
DiegoRivera 1:34a6a7784d9e 27 pos=0b0010;
DiegoRivera 1:34a6a7784d9e 28 else
DiegoRivera 1:34a6a7784d9e 29 if (pos==0b0010)
DiegoRivera 1:34a6a7784d9e 30 pos=0b0100;
DiegoRivera 1:34a6a7784d9e 31 else
DiegoRivera 1:34a6a7784d9e 32 if (pos==0b0100)
DiegoRivera 1:34a6a7784d9e 33 pos=0b1000;
DiegoRivera 1:34a6a7784d9e 34 else
DiegoRivera 1:34a6a7784d9e 35 if (pos==0b1000)
DiegoRivera 1:34a6a7784d9e 36 pos=0b0001;*/
DiegoRivera 1:34a6a7784d9e 37
DiegoRivera 0:40987d1d44d7 38
DiegoRivera 1:34a6a7784d9e 39 // motor=pos;
DiegoRivera 1:34a6a7784d9e 40 // wait(vel);
DiegoRivera 0:40987d1d44d7 41 // motor=0;
DiegoRivera 1:34a6a7784d9e 42 motor=0b0001;
DiegoRivera 0:40987d1d44d7 43 }
DiegoRivera 0:40987d1d44d7 44
DiegoRivera 0:40987d1d44d7 45 void MotorAPasos::izquierda()
DiegoRivera 0:40987d1d44d7 46 {
DiegoRivera 1:34a6a7784d9e 47 /*
DiegoRivera 0:40987d1d44d7 48 if (pos==0b1010)
DiegoRivera 0:40987d1d44d7 49 pos=0b1001;
DiegoRivera 0:40987d1d44d7 50 else
DiegoRivera 0:40987d1d44d7 51 if (pos==0b1001)
DiegoRivera 0:40987d1d44d7 52 pos=0b0101;
DiegoRivera 0:40987d1d44d7 53 else
DiegoRivera 0:40987d1d44d7 54 if (pos==0b0101)
DiegoRivera 0:40987d1d44d7 55 pos=0b0110;
DiegoRivera 0:40987d1d44d7 56 else
DiegoRivera 0:40987d1d44d7 57 if (pos==0b0110)
DiegoRivera 1:34a6a7784d9e 58 pos=0b1010;*/
DiegoRivera 1:34a6a7784d9e 59 /* if (pos==0b0001)
DiegoRivera 1:34a6a7784d9e 60 pos=0b1000;
DiegoRivera 1:34a6a7784d9e 61 else
DiegoRivera 1:34a6a7784d9e 62 if (pos==0b1000)
DiegoRivera 1:34a6a7784d9e 63 pos=0b0100;
DiegoRivera 1:34a6a7784d9e 64 else
DiegoRivera 1:34a6a7784d9e 65 if (pos==0b0100)
DiegoRivera 1:34a6a7784d9e 66 pos=0b0010;
DiegoRivera 1:34a6a7784d9e 67 else
DiegoRivera 1:34a6a7784d9e 68 if (pos==0b0010)
DiegoRivera 1:34a6a7784d9e 69 pos=0b0001;*/
DiegoRivera 0:40987d1d44d7 70
DiegoRivera 1:34a6a7784d9e 71 // motor=pos;
DiegoRivera 1:34a6a7784d9e 72 // wait(vel);
DiegoRivera 0:40987d1d44d7 73 // motor=0;
DiegoRivera 1:34a6a7784d9e 74 motor=0b0010;
DiegoRivera 0:40987d1d44d7 75 }
DiegoRivera 0:40987d1d44d7 76
DiegoRivera 0:40987d1d44d7 77 void MotorAPasos::stop()
DiegoRivera 0:40987d1d44d7 78 {
DiegoRivera 0:40987d1d44d7 79 motor=0;
DiegoRivera 0:40987d1d44d7 80 }
DiegoRivera 0:40987d1d44d7 81
DiegoRivera 0:40987d1d44d7 82 void MotorAPasos::pasosPorSegundo(int v)
DiegoRivera 0:40987d1d44d7 83 {
DiegoRivera 0:40987d1d44d7 84 vel=1.0/v;
DiegoRivera 0:40987d1d44d7 85 }