esta librería sirve para el control del motor paso a paso.
Diff: Step_Motor.cpp
- Revision:
- 3:ec3add9f1351
- Parent:
- 2:7e471c76cd6b
- Child:
- 4:8581e6927b36
diff -r 7e471c76cd6b -r ec3add9f1351 Step_Motor.cpp --- 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--;