Diff: steppercontroller.cpp

Revision:

0:2cfd64d210f3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/steppercontroller.cpp	Mon Jun 29 07:47:45 2015 +0000
@@ -0,0 +1,77 @@
+
+#include "steppercontroller.h"
+
+StepperController::StepperController(PinName phaseA,PinName enA, PinName phaseB, PinName enB ):
+    phaseA(phaseA), enA(enA), phaseB(phaseB), enB(enB)
+{
+    this->enA.period(50e-6f);
+    this->enB.period(50e-6f);
+    pulseWidth = 0.1f;
+    state = 0;
+}
+
+void StepperController::advance()
+{
+    state = (state + 4 + dir) & 3;
+    updateOutputs();
+}
+
+void StepperController::setPeriod(float period)
+{
+    enA.period(period);
+    enB.period(period);   
+}
+
+void StepperController::setPulseWidth(float pulseWidth)
+{
+    this->pulseWidth = pulseWidth;
+}
+
+void StepperController::setDirection(Direction dir)
+{
+    this->dir = dir;
+}
+
+void StepperController::updateOutputs()
+{
+    switch(state){
+    case 0:
+       phaseA = 1;
+       enA = pulseWidth;
+       phaseB = 0;
+       enB = 0.0f;
+       break;
+    case 1:
+       phaseA = 0;
+       enA = pulseWidth;
+       phaseB = 0;
+       enB = 0.0f;
+       break;
+
+    case 2:
+       phaseA = 0;
+       enA = 0.0f;
+       phaseB = 1;
+       enB = pulseWidth;
+       break;
+
+    case 3:
+       phaseA = 0;
+       enA = 0.0f;
+       phaseB = 0;
+       enB = pulseWidth;
+       break;
+
+    default:
+       phaseA = 0;
+       enA = 0.0;
+       phaseB = 0;
+       enB = 0.0;
+    }
+}
+    
+
+        
+        
+        
+        
\ No newline at end of file