Romain Ame / Mbed 2 deprecated Stressed

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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

StepperMotor/Stepper.cpp@58:02dc8328975a, 2016-05-04 (annotated)

Committer:
Jagang
Date:
Wed May 04 19:55:03 2016 +0000
Revision:
58:02dc8328975a
Child:
71:5590dbe8393a
Adding ControlleurPince

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 58:02dc8328975a 1 #include "defines.h"
Jagang 58:02dc8328975a 2 #include "Stepper.h"
Jagang 58:02dc8328975a 3 #include "mbed.h"
Jagang 58:02dc8328975a 4
Jagang 58:02dc8328975a 5 Stepper::Stepper(PinName _en, PinName _stepPin, PinName _dir, PinName _minEndStop, float step_per_mm):en(_en),
Jagang 58:02dc8328975a 6 stepPin(_stepPin),
Jagang 58:02dc8328975a 7 direction(_dir),
Jagang 58:02dc8328975a 8 minEndStop(_minEndStop)
Jagang 58:02dc8328975a 9 {
Jagang 58:02dc8328975a 10 Step_Per_MM = step_per_mm;
Jagang 58:02dc8328975a 11 }
Jagang 58:02dc8328975a 12
Jagang 58:02dc8328975a 13 void Stepper::step(int number, int dir, float speed)
Jagang 58:02dc8328975a 14 {
Jagang 58:02dc8328975a 15 if (dir == HAUT) {
Jagang 58:02dc8328975a 16 direction = 0;
Jagang 58:02dc8328975a 17 } else if (dir == BAS) {
Jagang 58:02dc8328975a 18 direction = 1;
Jagang 58:02dc8328975a 19 }
Jagang 58:02dc8328975a 20
Jagang 58:02dc8328975a 21 // Step...
Jagang 58:02dc8328975a 22 for(int i=0; i<number && !(minEndStop.read() == 0 && dir == BAS); i++)
Jagang 58:02dc8328975a 23 {
Jagang 58:02dc8328975a 24 stepPin = 1;
Jagang 58:02dc8328975a 25 wait_us(5);
Jagang 58:02dc8328975a 26 stepPin = 0;
Jagang 58:02dc8328975a 27 wait_us(5);
Jagang 58:02dc8328975a 28 wait(speed);
Jagang 58:02dc8328975a 29 }
Jagang 58:02dc8328975a 30 }
Jagang 58:02dc8328975a 31
Jagang 58:02dc8328975a 32 void Stepper::mm(int number, int dir)
Jagang 58:02dc8328975a 33 {
Jagang 58:02dc8328975a 34 step(number*Step_Per_MM, dir, DELAY-0.001);
Jagang 58:02dc8328975a 35 }
Jagang 58:02dc8328975a 36
Jagang 58:02dc8328975a 37 void Stepper::mm(float distance)
Jagang 58:02dc8328975a 38 {
Jagang 58:02dc8328975a 39 step(abs(distance*Step_Per_MM), (distance>0?HAUT:BAS), DELAY-0.001);
Jagang 58:02dc8328975a 40 }
Jagang 58:02dc8328975a 41
Jagang 58:02dc8328975a 42 void Stepper::enable()
Jagang 58:02dc8328975a 43 {
Jagang 58:02dc8328975a 44 en = 0;
Jagang 58:02dc8328975a 45 }
Jagang 58:02dc8328975a 46
Jagang 58:02dc8328975a 47 void Stepper::disable()
Jagang 58:02dc8328975a 48 {
Jagang 58:02dc8328975a 49 en = 1;
Jagang 58:02dc8328975a 50 }