Diff: Step_Motor.cpp

Revision:

3:ec3add9f1351

Parent:

2:7e471c76cd6b

Child:

4:8581e6927b36

--- a/Step_Motor.cpp	Tue Apr 24 04:51:31 2018 +0000
+++ b/Step_Motor.cpp	Tue Apr 24 15:48:13 2018 +0000
@@ -5,30 +5,44 @@
  Serial pc1(USBTX,USBRX);
  
     
-stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4) : motor_out(in1,in2,in3,in4) { 
+stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4,PinName in5, PinName in6, PinName in7, PinName in8) : motor_out(in1,in2,in3,in4,in5,in6,in7,in8) { 
  
  
     motor_out=0x0;
     nstep=0;
     motorSpeed=1100;
-    
+    nstep2=7;
 }
  
  
 void stepmotor::move() { 
    
+   switch(nstep2)
+        { 
+            case 0: ms2 = 0x1; break;  // 0001
+            case 1: ms2 = 0x3; break;  // 0011
+            case 2: ms2 = 0x2; break;  // 0010   
+            case 3: ms2 = 0x6; break;  // 0110
+            case 4: ms2 = 0x4; break;  // 0100
+            case 5: ms2 = 0xC; break;  // 1100
+            case 6: ms2 = 0x8; break;  // 1000
+            case 7: ms2 = 0x9; break;  // 1001
+            
+            default: ms2 = 0x0; break; // 0000
+        }
+   
    switch(nstep)
         { 
-            case 0: motor_out = 0x1; break;  // 0001
-            case 1: motor_out = 0x3; break;  // 0011
-            case 2: motor_out = 0x2; break;  // 0010   
-            case 3: motor_out = 0x6; break;  // 0110
-            case 4: motor_out = 0x4; break;  // 0100
-            case 5: motor_out = 0xC; break;  // 1100
-            case 6: motor_out = 0x8; break;  // 1000
-            case 7: motor_out = 0x9; break;  // 1001
+            case 0: motor_out = 0x10 + ms2; break;  // 0001 XXXX
+            case 1: motor_out = 0x30 + ms2; break;  // 0011
+            case 2: motor_out = 0x20 + ms2; break;  // 0010   
+            case 3: motor_out = 0x60 + ms2; break;  // 0110
+            case 4: motor_out = 0x40 + ms2; break;  // 0100
+            case 5: motor_out = 0xC0 + ms2; break;  // 1100
+            case 6: motor_out = 0x80 + ms2; break;  // 1000
+            case 7: motor_out = 0x90 + ms2; break;  // 1001
             
-            default: motor_out = 0x0; break; // 0000
+            default: motor_out = 0x00 + ms2; break; // 0000
         }
         wait_us(motorSpeed);
         
@@ -55,6 +69,7 @@
         if (cw==0)  nstep--;  
         if (nstep>7) nstep=0;
         if (nstep<0) nstep=7;
+        nstep2=7-nstep;
         move();
         count--;