Diff: stepper.cpp

Revision:

0:3c2829d3f80f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stepper.cpp	Mon Apr 13 14:07:16 2020 +0000
@@ -0,0 +1,61 @@
+/* mbed Stepper Library
+ * Copyright (c) 2010 fachatz
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include "stepper.h"
+#include "mbed.h"
+
+ // define the Stepper Motor save start/stop speed 
+#define START_STOP_SPEED 300
+
+// define Library version number
+#define VERSION 0.3
+
+// led4, used for testing the direction signal
+DigitalOut led4(LED4);
+
+stepper::stepper(PinName clk, PinName dir) : _clk(clk), _dir(dir) {
+    _clk = 0, _dir = 0;
+}
+
+void stepper::step(int n_steps, bool direction, int speed, bool accel) {
+    int accelspeed;
+    if(accel) accelspeed = START_STOP_SPEED;
+    else accelspeed = speed;
+    for(int i=0; i<n_steps; i++) 
+    {
+        if(accel)//linear acceleration
+        {
+          if(i < START_STOP_SPEED) if (--accelspeed == speed) accelspeed ++; 
+          if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
+        }  
+        _dir = led4 = direction;
+        _clk = 1;
+        wait_us(1);
+        _clk = 0;
+        wait_us(1);
+        wait_us(accelspeed);
+    }
+}
+
+// version() returns the version number of the library
+float stepper::version(void) {
+    return VERSION;    
+}
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