Matteus Car / stepperTest

Teste de passos

stepper.cpp@0:3c2829d3f80f, 2020-04-13 (annotated)

Committer:
MatteusCarr
Date:
Mon Apr 13 14:07:16 2020 +0000
Revision:
0:3c2829d3f80f
Teste da biblioteca de passos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MatteusCarr 0:3c2829d3f80f 1 /* mbed Stepper Library
MatteusCarr 0:3c2829d3f80f 2 * Copyright (c) 2010 fachatz
MatteusCarr 0:3c2829d3f80f 3 *
MatteusCarr 0:3c2829d3f80f 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
MatteusCarr 0:3c2829d3f80f 5 * of this software and associated documentation files (the "Software"), to deal
MatteusCarr 0:3c2829d3f80f 6 * in the Software without restriction, including without limitation the rights
MatteusCarr 0:3c2829d3f80f 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
MatteusCarr 0:3c2829d3f80f 8 * copies of the Software, and to permit persons to whom the Software is
MatteusCarr 0:3c2829d3f80f 9 * furnished to do so, subject to the following conditions:
MatteusCarr 0:3c2829d3f80f 10 *
MatteusCarr 0:3c2829d3f80f 11 * The above copyright notice and this permission notice shall be included in
MatteusCarr 0:3c2829d3f80f 12 * all copies or substantial portions of the Software.
MatteusCarr 0:3c2829d3f80f 13 *
MatteusCarr 0:3c2829d3f80f 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
MatteusCarr 0:3c2829d3f80f 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
MatteusCarr 0:3c2829d3f80f 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
MatteusCarr 0:3c2829d3f80f 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
MatteusCarr 0:3c2829d3f80f 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
MatteusCarr 0:3c2829d3f80f 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
MatteusCarr 0:3c2829d3f80f 20 * THE SOFTWARE.
MatteusCarr 0:3c2829d3f80f 21 */
MatteusCarr 0:3c2829d3f80f 22 #include "stepper.h"
MatteusCarr 0:3c2829d3f80f 23 #include "mbed.h"
MatteusCarr 0:3c2829d3f80f 24
MatteusCarr 0:3c2829d3f80f 25 // define the Stepper Motor save start/stop speed
MatteusCarr 0:3c2829d3f80f 26 #define START_STOP_SPEED 300
MatteusCarr 0:3c2829d3f80f 27
MatteusCarr 0:3c2829d3f80f 28 // define Library version number
MatteusCarr 0:3c2829d3f80f 29 #define VERSION 0.3
MatteusCarr 0:3c2829d3f80f 30
MatteusCarr 0:3c2829d3f80f 31 // led4, used for testing the direction signal
MatteusCarr 0:3c2829d3f80f 32 DigitalOut led4(LED4);
MatteusCarr 0:3c2829d3f80f 33
MatteusCarr 0:3c2829d3f80f 34 stepper::stepper(PinName clk, PinName dir) : _clk(clk), _dir(dir) {
MatteusCarr 0:3c2829d3f80f 35 _clk = 0, _dir = 0;
MatteusCarr 0:3c2829d3f80f 36 }
MatteusCarr 0:3c2829d3f80f 37
MatteusCarr 0:3c2829d3f80f 38 void stepper::step(int n_steps, bool direction, int speed, bool accel) {
MatteusCarr 0:3c2829d3f80f 39 int accelspeed;
MatteusCarr 0:3c2829d3f80f 40 if(accel) accelspeed = START_STOP_SPEED;
MatteusCarr 0:3c2829d3f80f 41 else accelspeed = speed;
MatteusCarr 0:3c2829d3f80f 42 for(int i=0; i<n_steps; i++)
MatteusCarr 0:3c2829d3f80f 43 {
MatteusCarr 0:3c2829d3f80f 44 if(accel)//linear acceleration
MatteusCarr 0:3c2829d3f80f 45 {
MatteusCarr 0:3c2829d3f80f 46 if(i < START_STOP_SPEED) if (--accelspeed == speed) accelspeed ++;
MatteusCarr 0:3c2829d3f80f 47 if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
MatteusCarr 0:3c2829d3f80f 48 }
MatteusCarr 0:3c2829d3f80f 49 _dir = led4 = direction;
MatteusCarr 0:3c2829d3f80f 50 _clk = 1;
MatteusCarr 0:3c2829d3f80f 51 wait_us(1);
MatteusCarr 0:3c2829d3f80f 52 _clk = 0;
MatteusCarr 0:3c2829d3f80f 53 wait_us(1);
MatteusCarr 0:3c2829d3f80f 54 wait_us(accelspeed);
MatteusCarr 0:3c2829d3f80f 55 }
MatteusCarr 0:3c2829d3f80f 56 }
MatteusCarr 0:3c2829d3f80f 57
MatteusCarr 0:3c2829d3f80f 58 // version() returns the version number of the library
MatteusCarr 0:3c2829d3f80f 59 float stepper::version(void) {
MatteusCarr 0:3c2829d3f80f 60 return VERSION;
MatteusCarr 0:3c2829d3f80f 61 }