Revision 4:a3d8d60147dd, committed 2015-02-03

Comitter:

InBrewJ

Date:

Tue Feb 03 01:02:39 2015 +0000

Parent:

3:944e51dd1e4c

Child:

5:f9404f00deda

Commit message:

Made drastic changes to the stepperMotor library - this revision should perhaps be ignored...

Changed in this revision

--- a/sMotor.cpp	Thu Jan 29 15:50:34 2015 +0000
+++ b/sMotor.cpp	Tue Feb 03 01:02:39 2015 +0000
@@ -15,17 +15,21 @@
 
 int motorSpeed; // Steper speed
 
-sMotor::sMotor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
+sMotor::sMotor(PinName A0, PinName A1, PinName A2, PinName A3, const int maxSteps) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
     _A0=0;
     _A1=0;
     _A2=0;
     _A3=0;
+    _maxSteps = maxSteps;
+    _motorPosition = maxSteps;
 }
 
 //UP
-void sMotor::anticlockwise() { // rotate the motor 4 steps UP
-    for (int i = 0; i < 4; i++) {        
-        switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+void sMotor::anticlockwise(int num_steps) { // rotate the motor num_steps UP
+    short subStep = 0;
+    for (int i = 0; i < num_steps && _motorPosition < _maxSteps; i++) {        
+        subStep %= 4;
+        switch (subStep) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
             case 0: {
                 _A0=1;
                 _A1=0;
@@ -56,15 +60,18 @@
             break;            
         }
 
-
+        subStep++;
+        _motorPosition++;
         wait_ms(motorSpeed); // wait time defines the speed 
     }
 }
 
 // DOWN
-void sMotor::clockwise() { // rotate the motor 4 steps DOWN
-    for (int i = 0; i < 4; i++) {    
-        switch (i) {
+void sMotor::clockwise(int num_steps) { // rotate the motor num_steps DOWN
+    short subStep = 0;    
+    for (int i = 0; i < num_steps && _motorPosition > 0; i++) {    
+        subStep %= 4;
+        switch (subStep) {
             case 0: {
                 _A0=1;
                 _A1=1;
@@ -94,25 +101,26 @@
             }
             break;            
         }
-
-
+    
+        subStep++;
+        _motorPosition--;
         wait_ms(motorSpeed); // wait time defines the speed 
     }
 }
 void sMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
-    int count=0; // initalize step count
+    //int count=0; // initalize step count
     motorSpeed=speed; //set motor speed
     if (!direction) // shaft DOWN
-        do {
-            printf("Doing Down: %d\n", count);
-            clockwise();
-            count++;
-        } while (count<num_steps/4); // turn number of steps applied 
+        //do {
+            //printf("Doing Down: %d\n", count);
+            clockwise(num_steps);
+            //count++;
+        //} while (count<num_steps); // turn number of steps applied 
     else if (direction)// Shaft UP
-        do {
-            printf("Doing Up: %d\n", count);
-            anticlockwise();
-            count++;
-        } while (count<num_steps/4);// turn number of steps applied 
+        //do {
+            //printf("Doing Up: %d\n", count);
+            anticlockwise(num_steps);
+            //count++;
+        //} while (count<num_steps);// turn number of steps applied 
 
 }
\ No newline at end of file

--- a/sMotor.h	Thu Jan 29 15:50:34 2015 +0000
+++ b/sMotor.h	Tue Feb 03 01:02:39 2015 +0000
@@ -1,11 +1,11 @@
 /*
 ##############################################
-##    Program Created by Harshavardan61     ##
+##Original Program Created by Harshavardan61##
 ##############################################
         ---- harshavardan61@gmail.com -----
-        
-This library was made for 4-Phase Stepper Motors
-I don't take any resposability for the damage caused to your equipment.
+Extended by Jason Brewer 2015
+to adapt to the stepper motor + linear actuator
+supplied by Selim Yilmaz
 
 */
 #ifndef MBED_SMOTOR_H
@@ -16,11 +16,11 @@
 class sMotor {
 public:
 
-    sMotor(PinName A0, PinName A1, PinName A2, PinName A3); //motor constructor
+    sMotor(PinName A0, PinName A1, PinName A2, PinName A3, const int maxSteps); //motor constructor
 
     void step(int num_steps, int direction, int speed);
-    void anticlockwise();
-    void clockwise();
+    void anticlockwise(int num_steps);
+    void clockwise(int num_steps);
 
 
 private:
@@ -29,6 +29,8 @@
     DigitalOut _A1;
     DigitalOut _A2;
     DigitalOut _A3;
+    int _motorPosition;
+    int _maxSteps;
 
 };