Diff: taxel.cpp

Revision:

0:f254a3cfe0f6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/taxel.cpp	Mon Apr 08 16:57:36 2019 +0000
@@ -0,0 +1,266 @@
+#include "mbed.h"
+#include "tactile_mouse.hpp"
+#include "taxel.hpp"
+
+taxel::taxel(){
+    steps=0;
+    targetSteps=0;
+    lastStep=1;
+    delay = 0.003;
+    changed = false;
+}
+
+taxel::taxel(int x_, int y_){
+    x=x_;
+    y=y_;
+    steps=0;
+    targetSteps=0;
+    lastStep=1;
+    delay = 0.003;
+    changed = false;
+}
+
+taxel::~taxel(){}
+
+void taxel::step1(){
+    MotorA1=1;
+    MotorA2=0;
+    MotorB1=0;
+    MotorB2=1;
+    wait(0.000001);
+    step = 1;
+    wait(0.000001);
+    step=0;
+    wait(delay);
+    lastStep = 1;
+    }
+
+void taxel::step2(){
+    MotorA1=1;
+    MotorA2=0;
+    MotorB1=1;
+    MotorB2=0;
+    wait(0.000001);
+    step = 1;
+    wait(0.000001);
+    step=0;
+    wait(delay);
+    lastStep = 2;
+    }
+
+void taxel::step3(){
+    MotorA1=0;
+    MotorA2=1;
+    MotorB1=1;
+    MotorB2=0;
+    wait(0.000001);
+    step = 1;
+    wait(0.000001);
+    step=0;
+    wait(delay);
+    lastStep = 3;
+    }
+
+void taxel::step4(){
+    MotorA1=0;
+    MotorA2=1;
+    MotorB1=0;
+    MotorB2=1;
+    wait(0.000001);
+    step = 1;
+    wait(0.000001);
+    step=0;
+    wait(delay);
+    lastStep = 4;
+    }
+    
+    
+void taxel::stop(){
+    MotorA1=0;
+    MotorA2=0;
+    MotorB1=0;
+    MotorB2=0;
+    step = 1;
+    step=0;
+    }
+    
+//Extend and retract functions take time delay in S
+void taxel::down(){
+    step4();
+    step3();
+    step2();
+    step1();
+    stop();
+}
+    
+void taxel::up(){
+    step1();
+    step2();
+    step3();
+    step4();
+    stop();
+}
+    
+void taxel::selectMotor(int x, int y){
+    switch (x){
+        case 0: BOARD_MUXA=0;
+                BOARD_MUXB=0;
+                BOARD_MUXC=0;
+                break;
+        case 1: BOARD_MUXA=1;
+                BOARD_MUXB=0;
+                BOARD_MUXC=0;
+                break;
+        case 2: BOARD_MUXA=0;
+                BOARD_MUXB=1;
+                BOARD_MUXC=0;
+                break;
+        case 3: BOARD_MUXA=1;
+                BOARD_MUXB=1;
+                BOARD_MUXC=0;
+                break;
+        case 4: BOARD_MUXA=0;
+                BOARD_MUXB=0;
+                BOARD_MUXC=1;
+                break;
+        case 5: BOARD_MUXA=1;
+                BOARD_MUXB=0;
+                BOARD_MUXC=1;
+                break;
+        case 6: BOARD_MUXA=0;
+                BOARD_MUXB=1;
+                BOARD_MUXC=1;
+                break;
+        case 7: BOARD_MUXA=1;
+                BOARD_MUXB=1;
+                BOARD_MUXC=1;
+                break;
+        default:BOARD_MUXA=0;
+                BOARD_MUXB=0;
+                BOARD_MUXC=0;
+                break;
+    }
+    switch (y){
+        case 0: MUXA=0;
+                MUXB=0;
+                MUXC=0;
+                break;
+        case 1: MUXA=1;
+                MUXB=0;
+                MUXC=0;
+                break;
+        case 2: MUXA=0;
+                MUXB=1;
+                MUXC=0;
+                break;
+        case 3: MUXA=1;
+                MUXB=1;
+                MUXC=0;
+                break;
+        case 4: MUXA=0;
+                MUXB=0;
+                MUXC=1;
+                break;
+        case 5: MUXA=1;
+                MUXB=0;
+                MUXC=1;
+                break;
+        case 6: MUXA=0;
+                MUXB=1;
+                MUXC=1;
+                break;
+        case 7: MUXA=1;
+                MUXB=1;
+                MUXC=1;
+                break;
+        default:MUXA=0;
+                MUXB=0;
+                MUXC=0;
+                break;
+    }
+}
+
+void taxel::stepUp(){
+    selectMotor(x,y);
+    switch (lastStep){
+        case 1:
+            step2();
+            break;
+        case 2:
+            step3();
+            break;
+        case 3:
+            step4();
+            break;
+        case 4:
+            step1();
+            break;
+    }
+    steps++;
+    //deactivate.attach(callback(this, &taxel::stop), 0.015);
+    wait(0.02);
+    stop();
+}
+
+void taxel::stepDown(){
+    selectMotor(x,y);
+    switch (lastStep){
+        case 1:
+            step4();
+            break;
+        case 2:
+            step1();
+            break;
+        case 3:
+            step2();
+            break;
+        case 4:
+            step3();
+            break;
+    }
+    steps--;
+    //deactivate.attach(callback(this, &taxel::stop), 0.015);
+    wait(0.02);
+    stop();
+}
+
+void taxel::setTarget(int target){
+    if(target != steps){
+        changed = true;
+    }
+    targetSteps = target;
+    
+}
+
+bool taxel::stepToTarget(){
+    if(!changed){
+        return changed;
+    }
+    if(steps > targetSteps){
+        stepDown();
+        if(steps == targetSteps){
+            changed = false;
+        }
+        return changed;
+    }
+    
+    if(steps < targetSteps){
+        stepUp();
+        if(steps == targetSteps){
+            changed = false;
+        }
+        return changed;
+    }
+    return changed;  //Should never get here
+}
+
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