Telescope Control Library
StepOut.h@19:fd854309cb4c, 2018-09-24 (annotated)
- Committer:
- caoyu@caoyuan9642-desktop.MIT.EDU
- Date:
- Mon Sep 24 19:36:48 2018 -0400
- Revision:
- 19:fd854309cb4c
- Parent:
- 0:6cb2eaf8b133
Fix bug in nudging with small speeds mentioned in the last commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
caoyuan9642 | 0:6cb2eaf8b133 | 1 | /* |
caoyuan9642 | 0:6cb2eaf8b133 | 2 | * ControllablePWMOut.h |
caoyuan9642 | 0:6cb2eaf8b133 | 3 | * |
caoyuan9642 | 0:6cb2eaf8b133 | 4 | * Created on: 2018Äê2ÔÂ9ÈÕ |
caoyuan9642 | 0:6cb2eaf8b133 | 5 | * Author: caoyuan9642 |
caoyuan9642 | 0:6cb2eaf8b133 | 6 | */ |
caoyuan9642 | 0:6cb2eaf8b133 | 7 | |
caoyuan9642 | 0:6cb2eaf8b133 | 8 | #ifndef TELESCOPE_STEPOUT_H_ |
caoyuan9642 | 0:6cb2eaf8b133 | 9 | #define TELESCOPE_STEPOUT_H_ |
caoyuan9642 | 0:6cb2eaf8b133 | 10 | |
caoyuan9642 | 0:6cb2eaf8b133 | 11 | #include "mbed.h" |
caoyuan9642 | 0:6cb2eaf8b133 | 12 | |
caoyuan9642 | 0:6cb2eaf8b133 | 13 | class StepOut: protected PwmOut |
caoyuan9642 | 0:6cb2eaf8b133 | 14 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 15 | public: |
caoyuan9642 | 0:6cb2eaf8b133 | 16 | |
caoyuan9642 | 0:6cb2eaf8b133 | 17 | StepOut(PinName pin) : |
caoyuan9642 | 0:6cb2eaf8b133 | 18 | PwmOut(pin), stepCount(0), freq(1), status(IDLE) |
caoyuan9642 | 0:6cb2eaf8b133 | 19 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 20 | // Stop the output |
caoyuan9642 | 0:6cb2eaf8b133 | 21 | this->period(1); |
caoyuan9642 | 0:6cb2eaf8b133 | 22 | this->write(0); |
caoyuan9642 | 0:6cb2eaf8b133 | 23 | tim.start(); |
caoyuan9642 | 0:6cb2eaf8b133 | 24 | } |
caoyuan9642 | 0:6cb2eaf8b133 | 25 | virtual ~StepOut() |
caoyuan9642 | 0:6cb2eaf8b133 | 26 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 27 | // Stop the PWM Output |
caoyuan9642 | 0:6cb2eaf8b133 | 28 | this->write(0); |
caoyuan9642 | 0:6cb2eaf8b133 | 29 | } |
caoyuan9642 | 0:6cb2eaf8b133 | 30 | |
caoyuan9642 | 0:6cb2eaf8b133 | 31 | void start(); |
caoyuan9642 | 0:6cb2eaf8b133 | 32 | void stop(); |
caoyuan9642 | 0:6cb2eaf8b133 | 33 | |
caoyuan9642 | 0:6cb2eaf8b133 | 34 | double setFrequency(double frequency); |
caoyuan9642 | 0:6cb2eaf8b133 | 35 | void resetCount(); |
caoyuan9642 | 0:6cb2eaf8b133 | 36 | int64_t getCount(); |
caoyuan9642 | 0:6cb2eaf8b133 | 37 | |
caoyuan9642 | 0:6cb2eaf8b133 | 38 | private: |
caoyuan9642 | 0:6cb2eaf8b133 | 39 | typedef enum |
caoyuan9642 | 0:6cb2eaf8b133 | 40 | { |
caoyuan9642 | 0:6cb2eaf8b133 | 41 | IDLE = 0, STEPPING |
caoyuan9642 | 0:6cb2eaf8b133 | 42 | } stepstatus_t; |
caoyuan9642 | 0:6cb2eaf8b133 | 43 | |
caoyuan9642 | 0:6cb2eaf8b133 | 44 | int64_t stepCount; |
caoyuan9642 | 0:6cb2eaf8b133 | 45 | double freq; |
caoyuan9642 | 0:6cb2eaf8b133 | 46 | stepstatus_t status; |
caoyuan9642 | 0:6cb2eaf8b133 | 47 | Timer tim; |
caoyuan9642 | 0:6cb2eaf8b133 | 48 | |
caoyuan9642 | 0:6cb2eaf8b133 | 49 | }; |
caoyuan9642 | 0:6cb2eaf8b133 | 50 | |
caoyuan9642 | 0:6cb2eaf8b133 | 51 | #endif /* TELESCOPE_STEPOUT_H_ */ |
caoyuan9642 | 0:6cb2eaf8b133 | 52 | |
caoyuan9642 | 0:6cb2eaf8b133 | 53 |