Romain Ame / Mbed 2 deprecated Stressed

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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

StepperMotor/Stepper.cpp@71:5590dbe8393a, 2016-05-05 (annotated)

Committer:
Jagang
Date:
Thu May 05 03:47:05 2016 +0000
Revision:
71:5590dbe8393a
Parent:
58:02dc8328975a 
Uodate Controlleur, ajout des mouvement d et c, ajout des AX12

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 71:5590dbe8393a 13 bool Stepper::step(int _number, int _dir, float _speed, bool _async)
Jagang 58:02dc8328975a 14 {
Jagang 71:5590dbe8393a 15 if(done())
Jagang 71:5590dbe8393a 16 {
Jagang 71:5590dbe8393a 17 dir = _dir;
Jagang 71:5590dbe8393a 18 number = _number;
Jagang 71:5590dbe8393a 19 speed = _speed;
Jagang 71:5590dbe8393a 20 async = _async;
Jagang 71:5590dbe8393a 21
Jagang 71:5590dbe8393a 22 if (dir == HAUT)
Jagang 71:5590dbe8393a 23 direction = 0;
Jagang 71:5590dbe8393a 24 else if (dir == BAS)
Jagang 71:5590dbe8393a 25 direction = 1;
Jagang 71:5590dbe8393a 26
Jagang 71:5590dbe8393a 27 ticker.attach(this,&Stepper::tick,_speed);
Jagang 71:5590dbe8393a 28 if(!_async)
Jagang 71:5590dbe8393a 29 while(!done())
Jagang 71:5590dbe8393a 30 wait(speed);
Jagang 71:5590dbe8393a 31
Jagang 71:5590dbe8393a 32 return true;
Jagang 58:02dc8328975a 33 }
Jagang 58:02dc8328975a 34
Jagang 71:5590dbe8393a 35 return false;
Jagang 71:5590dbe8393a 36
Jagang 71:5590dbe8393a 37
Jagang 71:5590dbe8393a 38
Jagang 71:5590dbe8393a 39 /* Step...
Jagang 58:02dc8328975a 40 for(int i=0; i<number && !(minEndStop.read() == 0 && dir == BAS); i++)
Jagang 58:02dc8328975a 41 {
Jagang 58:02dc8328975a 42 stepPin = 1;
Jagang 58:02dc8328975a 43 wait_us(5);
Jagang 58:02dc8328975a 44 stepPin = 0;
Jagang 58:02dc8328975a 45 wait_us(5);
Jagang 58:02dc8328975a 46 wait(speed);
Jagang 71:5590dbe8393a 47 }*/
Jagang 71:5590dbe8393a 48 }
Jagang 71:5590dbe8393a 49
Jagang 71:5590dbe8393a 50 bool Stepper::mm(int _number, int _dir, bool _async)
Jagang 71:5590dbe8393a 51 {
Jagang 71:5590dbe8393a 52 return step(_number*Step_Per_MM, _dir, DELAY-0.001, _async);
Jagang 71:5590dbe8393a 53 }
Jagang 71:5590dbe8393a 54
Jagang 71:5590dbe8393a 55 bool Stepper::mm(float _distance, bool _async)
Jagang 71:5590dbe8393a 56 {
Jagang 71:5590dbe8393a 57 return step(abs(_distance)*Step_Per_MM, (_distance>0?HAUT:BAS), DELAY-0.001, _async);
Jagang 71:5590dbe8393a 58 }
Jagang 71:5590dbe8393a 59
Jagang 71:5590dbe8393a 60 bool Stepper::done()
Jagang 71:5590dbe8393a 61 {
Jagang 71:5590dbe8393a 62 return number == 0;
Jagang 71:5590dbe8393a 63 }
Jagang 71:5590dbe8393a 64
Jagang 71:5590dbe8393a 65 void Stepper::tick()
Jagang 71:5590dbe8393a 66 {
Jagang 71:5590dbe8393a 67 stepPin = 1;
Jagang 71:5590dbe8393a 68 wait_us(5);
Jagang 71:5590dbe8393a 69 stepPin = 0;
Jagang 71:5590dbe8393a 70
Jagang 71:5590dbe8393a 71 number--;
Jagang 71:5590dbe8393a 72
Jagang 71:5590dbe8393a 73 if(number <= 0 || (minEndStop.read() == 0 && dir == BAS))
Jagang 71:5590dbe8393a 74 {
Jagang 71:5590dbe8393a 75 ticker.detach();
Jagang 71:5590dbe8393a 76 number = 0;
Jagang 58:02dc8328975a 77 }
Jagang 58:02dc8328975a 78 }
Jagang 58:02dc8328975a 79
Jagang 58:02dc8328975a 80
Jagang 58:02dc8328975a 81 void Stepper::enable()
Jagang 58:02dc8328975a 82 {
Jagang 58:02dc8328975a 83 en = 0;
Jagang 58:02dc8328975a 84 }
Jagang 58:02dc8328975a 85
Jagang 58:02dc8328975a 86 void Stepper::disable()
Jagang 58:02dc8328975a 87 {
Jagang 58:02dc8328975a 88 en = 1;
Jagang 58:02dc8328975a 89 }