Diff: lsMotor.cpp

Revision:

6:84c5df74391b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/lsMotor.cpp	Tue Feb 03 03:44:45 2015 +0000
@@ -0,0 +1,139 @@
+/*
+##############################################
+##    Program Created by Harshavardan61     ##
+##############################################
+        ---- harshavardan61@gmail.com -----
+        
+Extended by Jason Brewer 2015
+
+*/
+
+#include "lsMotor.h"
+#include "mbed.h"
+
+lsMotor::lsMotor(PinName A0, PinName A1, PinName A2, PinName A3, PinName motorEnable, const int maxSteps) : _A0(A0), _A1(A1), 
+                        _A2(A2), _A3(A3), _motorEnable(motorEnable) { 
+    _A0=0;
+    _A1=0;
+    _A2=0;
+    _A3=0;
+    _motorEnable = 0;
+    _maxSteps = maxSteps;
+    _motorPosition = maxSteps;
+}
+
+//UP
+void lsMotor::up(int num_steps) { // rotate the motor num_steps UP
+    short subStep = 0;
+    //printf("In UP\n");
+    for (int i = 0; i < num_steps && _motorPosition < _maxSteps; i++) { 
+        //printf("numsteps: %d Doing UP %d pos: %d\n", num_steps, i, _motorPosition);               
+        switch (subStep) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+            case 0: {
+                _A0=1;
+                _A1=0;
+                _A2=0;
+                _A3=1;
+            }
+            break;
+            case 1: {
+                _A0=0;
+                _A1=0;
+                _A2=1;
+                _A3=1;
+            }
+            break;
+            case 2: {
+                _A0=0;
+                _A1=1;
+                _A2=1;
+                _A3=0;
+            }
+            break;
+            case 3: {
+                _A0=1;
+                _A1=1;
+                _A2=0;
+                _A3=0;
+            }
+            break;            
+        }
+
+        subStep++;
+        subStep %= 4;        
+        _motorPosition++;
+        wait_ms(_motorSpeed);
+    }
+    /*_A0=0;
+    _A1=0;
+    _A2=0;
+    _A3=0;*/
+    return;
+}
+
+// DOWN
+void lsMotor::down(int num_steps) { // rotate the motor num_steps DOWN
+    short subStep = 0;   
+    //printf("In DOWN\n"); 
+    for (int i = 0; i < num_steps && _motorPosition > 0; i++) { 
+        //printf("numsteps: %d Doing DOWN %d pos: %d\n", num_steps, i, _motorPosition);           
+        switch (subStep) {
+            case 0: {
+                _A0=1;
+                _A1=1;
+                _A2=0;
+                _A3=0;
+            }
+            break;
+            case 1: {
+                _A0=0;
+                _A1=1;
+                _A2=1;
+                _A3=0;
+            }
+            break;
+            case 2: {
+                _A0=0;
+                _A1=0;
+                _A2=1;
+                _A3=1;
+            }
+            break;
+            case 3: {
+                _A0=1;
+                _A1=0;
+                _A2=0;
+                _A3=1;
+            }
+            break;            
+        }
+    
+        subStep++;
+        subStep %= 4;
+        _motorPosition--;
+        wait_ms(_motorSpeed); // wait time defines the speed 
+    }
+    /*_A0=0;
+    _A1=0;
+    _A2=0;
+    _A3=0;*/
+    return;
+}
+
+void lsMotor::setMotorPosition(int position) {
+    _motorPosition = position;
+    return;
+}
+
+void lsMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- down, 1- up), speed in ms
+    _motorSpeed = speed; //set motor speed
+    if (!direction){ // shaft DOWN
+            _motorEnable = 1;
+            down(num_steps);
+            _motorEnable = 0;
+    }else if (direction){// Shaft UP
+            _motorEnable = 1;
+            up(num_steps);
+            _motorEnable = 0; 
+    }
+}
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