esta librería sirve para el control del motor paso a paso.
Step_Motor.cpp@2:7e471c76cd6b, 2018-04-24 (annotated)
- Committer:
- Stevenor1997
- Date:
- Tue Apr 24 04:51:31 2018 +0000
- Revision:
- 2:7e471c76cd6b
- Parent:
- 1:4c622abe2483
- Child:
- 3:ec3add9f1351
lir
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Stevenor1997 | 0:ea300190c1f5 | 1 | #include "Step_Motor.h" |
Stevenor1997 | 0:ea300190c1f5 | 2 | #include "mbed.h" |
Stevenor1997 | 0:ea300190c1f5 | 3 | |
Stevenor1997 | 2:7e471c76cd6b | 4 | |
Stevenor1997 | 2:7e471c76cd6b | 5 | Serial pc1(USBTX,USBRX); |
Stevenor1997 | 2:7e471c76cd6b | 6 | |
Stevenor1997 | 2:7e471c76cd6b | 7 | |
Stevenor1997 | 0:ea300190c1f5 | 8 | stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4) : motor_out(in1,in2,in3,in4) { |
Stevenor1997 | 0:ea300190c1f5 | 9 | |
Stevenor1997 | 0:ea300190c1f5 | 10 | |
Stevenor1997 | 0:ea300190c1f5 | 11 | motor_out=0x0; |
Stevenor1997 | 0:ea300190c1f5 | 12 | nstep=0; |
Stevenor1997 | 0:ea300190c1f5 | 13 | motorSpeed=1100; |
Stevenor1997 | 0:ea300190c1f5 | 14 | |
Stevenor1997 | 0:ea300190c1f5 | 15 | } |
Stevenor1997 | 0:ea300190c1f5 | 16 | |
Stevenor1997 | 0:ea300190c1f5 | 17 | |
Stevenor1997 | 0:ea300190c1f5 | 18 | void stepmotor::move() { |
Stevenor1997 | 0:ea300190c1f5 | 19 | |
Stevenor1997 | 0:ea300190c1f5 | 20 | switch(nstep) |
Stevenor1997 | 0:ea300190c1f5 | 21 | { |
Stevenor1997 | 0:ea300190c1f5 | 22 | case 0: motor_out = 0x1; break; // 0001 |
Stevenor1997 | 0:ea300190c1f5 | 23 | case 1: motor_out = 0x3; break; // 0011 |
Stevenor1997 | 0:ea300190c1f5 | 24 | case 2: motor_out = 0x2; break; // 0010 |
Stevenor1997 | 0:ea300190c1f5 | 25 | case 3: motor_out = 0x6; break; // 0110 |
Stevenor1997 | 0:ea300190c1f5 | 26 | case 4: motor_out = 0x4; break; // 0100 |
Stevenor1997 | 0:ea300190c1f5 | 27 | case 5: motor_out = 0xC; break; // 1100 |
Stevenor1997 | 0:ea300190c1f5 | 28 | case 6: motor_out = 0x8; break; // 1000 |
Stevenor1997 | 0:ea300190c1f5 | 29 | case 7: motor_out = 0x9; break; // 1001 |
Stevenor1997 | 0:ea300190c1f5 | 30 | |
Stevenor1997 | 0:ea300190c1f5 | 31 | default: motor_out = 0x0; break; // 0000 |
Stevenor1997 | 0:ea300190c1f5 | 32 | } |
Stevenor1997 | 0:ea300190c1f5 | 33 | wait_us(motorSpeed); |
Stevenor1997 | 0:ea300190c1f5 | 34 | |
Stevenor1997 | 0:ea300190c1f5 | 35 | } |
Stevenor1997 | 0:ea300190c1f5 | 36 | |
Stevenor1997 | 0:ea300190c1f5 | 37 | void stepmotor::set_speed(int speed){ |
Stevenor1997 | 0:ea300190c1f5 | 38 | motorSpeed=speed; //set motor speed us |
Stevenor1997 | 0:ea300190c1f5 | 39 | } |
Stevenor1997 | 0:ea300190c1f5 | 40 | uint32_t stepmotor::get_speed(){ |
Stevenor1997 | 0:ea300190c1f5 | 41 | return motorSpeed; // |
Stevenor1997 | 0:ea300190c1f5 | 42 | } |
Stevenor1997 | 0:ea300190c1f5 | 43 | |
Stevenor1997 | 0:ea300190c1f5 | 44 | void stepmotor::step(uint32_t num_steps, uint8_t cw) { |
Stevenor1997 | 0:ea300190c1f5 | 45 | // funcion para mover el motor N pasos CW o CCW |
Stevenor1997 | 0:ea300190c1f5 | 46 | // num_steps número de paso que da el motor |
Stevenor1997 | 0:ea300190c1f5 | 47 | // cw =True para dirección en sentido del reloj |
Stevenor1997 | 0:ea300190c1f5 | 48 | // cw =False para dirección contraria de las manecillas del reloj |
Stevenor1997 | 2:7e471c76cd6b | 49 | pc1.baud(9600); //programar los baudios |
Stevenor1997 | 2:7e471c76cd6b | 50 | pc1.format(8,SerialBase::None,1); |
Stevenor1997 | 1:4c622abe2483 | 51 | |
Stevenor1997 | 0:ea300190c1f5 | 52 | uint32_t count=num_steps ; |
Stevenor1997 | 0:ea300190c1f5 | 53 | while(count){ |
Stevenor1997 | 2:7e471c76cd6b | 54 | if (cw==1) nstep++; |
Stevenor1997 | 2:7e471c76cd6b | 55 | if (cw==0) nstep--; |
Stevenor1997 | 0:ea300190c1f5 | 56 | if (nstep>7) nstep=0; |
Stevenor1997 | 0:ea300190c1f5 | 57 | if (nstep<0) nstep=7; |
Stevenor1997 | 0:ea300190c1f5 | 58 | move(); |
Stevenor1997 | 0:ea300190c1f5 | 59 | count--; |
Stevenor1997 | 0:ea300190c1f5 | 60 | |
Stevenor1997 | 0:ea300190c1f5 | 61 | } |
Stevenor1997 | 2:7e471c76cd6b | 62 | if(cw==1) pc1.printf("Avance \n"); |
Stevenor1997 | 2:7e471c76cd6b | 63 | else if (cw==0) pc1.printf("Retrocedi \n"); |
Stevenor1997 | 0:ea300190c1f5 | 64 | } |