Diff: sMotor.cpp

Revision:

6:84c5df74391b

Parent:

5:f9404f00deda

--- a/sMotor.cpp	Tue Feb 03 03:41:10 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,139 +0,0 @@
-/*
-##############################################
-##    Program Created by Harshavardan61     ##
-##############################################
-        ---- harshavardan61@gmail.com -----
-        
-Extended by Jason Brewer 2015
-
-*/
-
-#include "sMotor.h"
-#include "mbed.h"
-
-sMotor::sMotor(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 sMotor::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 sMotor::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 sMotor::setMotorPosition(int position) {
-    _motorPosition = position;
-    return;
-}
-
-void sMotor::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; 
-    }
-}
\ No newline at end of file