Diff: sMotor.cpp

Revision:

0:4b3b9e047ce3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sMotor.cpp	Thu Jun 14 12:16:40 2012 +0000
@@ -0,0 +1,173 @@
+/*
+############################################
+##           sMotor v0.1 Library          ##
+##          created by Samuel Matildes    ##
+############################################
+        ---- sam.naeec@gmail.com -----
+This library was made for 4-Phase Stepper Motors
+I don't take any resposability for the damage caused to your equipment.
+
+*/
+
+#include "sMotor.h"
+
+#include "mbed.h"
+
+int motorSpeed; // Steper speed
+
+sMotor::sMotor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
+    _A0=0;
+    _A1=0;
+    _A2=0;
+    _A3=0;
+}
+
+
+void sMotor::anticlockwise() { // rotate the motor 1 step anticlockwise 
+    for (int i = 0; i < 8; i++) {
+
+        switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+            case 0: {
+                _A0=0;
+                _A1=0;
+                _A2=0;
+                _A3=1;
+            }
+            break;
+            case 1: {
+                _A0=0;
+                _A1=0;
+                _A2=1;
+                _A3=1;
+            }
+            break;
+            case 2: {
+                _A0=0;
+                _A1=0;
+                _A2=1;
+                _A3=0;
+            }
+            break;
+            case 3: {
+                _A0=0;
+                _A1=1;
+                _A2=1;
+                _A3=0;
+            }
+            break;
+            case 4: {
+                _A0=0;
+                _A1=1;
+                _A2=0;
+                _A3=0;
+            }
+            break;
+            case 5: {
+                _A0=1;
+                _A1=1;
+                _A2=0;
+                _A3=0;
+            }
+            break;
+            case 6: {
+                _A0=1;
+                _A1=0;
+                _A2=0;
+                _A3=0;
+            }
+            break;
+            case 7: {
+                _A0=1;
+                _A1=0;
+                _A2=0;
+                _A3=1;
+            }
+            break;
+        }
+
+
+        wait_us(motorSpeed); // wait time defines the speed 
+    }
+}
+
+void sMotor::clockwise() { // rotate the motor 1 step clockwise 
+    for (int i = 7; i >= 0; i--) {
+
+        switch (i) {
+            case 0: {
+                _A0=0;
+                _A1=0;
+                _A2=0;
+                _A3=1;
+            }
+            break;
+            case 1: {
+                _A0=0;
+                _A1=0;
+                _A2=1;
+                _A3=1;
+            }
+            break;
+            case 2: {
+                _A0=0;
+                _A1=0;
+                _A2=1;
+                _A3=0;
+            }
+            break;
+            case 3: {
+                _A0=0;
+                _A1=1;
+                _A2=1;
+                _A3=0;
+            }
+            break;
+            case 4: {
+                _A0=0;
+                _A1=1;
+                _A2=0;
+                _A3=0;
+            }
+            break;
+            case 5: {
+                _A0=1;
+                _A1=1;
+                _A2=0;
+                _A3=0;
+            }
+            break;
+            case 6: {
+                _A0=1;
+                _A1=0;
+                _A2=0;
+                _A3=0;
+            }
+            break;
+            case 7: {
+                _A0=1;
+                _A1=0;
+                _A2=0;
+                _A3=1;
+            }
+            break;
+        }
+
+
+        wait_us(motorSpeed); // wait time defines the speed 
+    }
+}
+void sMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
+    int count=0; // initalize step count
+    motorSpeed=speed; //set motor speed
+    if (direction==0) // turn clockwise
+        do {
+            clockwise();
+            count++;
+        } while (count<num_steps); // turn number of steps applied 
+    else if (direction==1)// turn anticlockwise
+        do {
+            anticlockwise();
+            count++;
+        } while (count<num_steps);// turn number of steps applied 
+
+}
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