Diff: Stepper.cpp

Revision:

0:a509cc91f7c2

Child:

1:66e95666c3b5

diff -r 000000000000 -r a509cc91f7c2 Stepper.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Stepper.cpp	Thu Jul 18 09:05:15 2013 +0000
@@ -0,0 +1,230 @@
+
+
+
+#include "mbed.h"
+#include "Stepper.h"
+
+
+/* .......................................
+
+    ? Pars Expanded Byte(s)
+    
+    Assuming Port expander is used;
+    
+    then on ISR, read chip registors ..
+    -> code -> 
+  ........................................  */
+
+
+
+Stepper::Stepper(PinName Step, PinName Dir, PinName En, 
+                 PinName Endstop_Left, 
+                 PinName Endstop_Right, 
+                 
+                 bool Invert_Dir, 
+                 bool Invert_ESL, 
+                 bool Invert_ESR)
+
+
+            : _Step (Step),  _Dir(Dir), _En(En), _Endstop_Left(Endstop_Left), _Endstop_Right(Endstop_Right)
+{            
+
+                // Assume End Stop Left is MIN,
+                // and End Stop Right is MAX endstop.
+                
+                 _Invert_Dir = Invert_Dir, 
+                 _Invert_ESL = Invert_ESL, 
+                 _Invert_ESR = Invert_ESR;            
+           
+    {
+    //  bool read_1();
+        if (Endstop_Left   != NC) ESL = true; else ESL = false;
+        if (Endstop_Right  != NC) ESR = true; else ESR = false;
+    
+    } 
+}  
+
+// ------------------------------------------------------------------------------------
+
+
+bool Stepper::Pulse()
+{
+//    if (Step == NC)
+//    {
+//        return false;
+//    }
+//    else
+        // Enable motor .. if not enabled .. short delay befor moveing ..
+        
+        if (!_En) 
+        {
+            _En = 1;
+            wait (0.005);   // 5 mSec.
+        }
+        
+        _En = 1;
+        
+        
+        {
+            _Step = 1;
+            wait_us (2);
+            _Step = 0;
+            return true;
+        }
+}
+
+// ------------------------------------------------------------------------------------
+
+bool Stepper::Set_Dir (bool Dir2Set)
+{
+//    if (Dir == NC)
+//    {
+//        return false;
+//    }
+//    else
+    {
+        if (Dir2Set)
+        {
+            _Invert_Dir ? _Dir = 0 : _Dir = 1;
+        }
+        else
+        {
+            _Invert_Dir ? _Dir = 1 : _Dir = 0;
+        }
+        
+        return true;
+    }
+}
+
+
+// ------------------------------------------------------------------------------------
+
+// test if ENDSTOP is enabled ....  _Endstop_Left
+
+bool Stepper::ESL_Fitted()
+{
+//    (ESL) ? return true : return false;
+    if (ESL) 
+    return true;
+    else
+    return false;
+}
+
+//
+
+bool Stepper::ESR_Fitted()
+{
+    //ESR ? return true : return false;
+    if (ESR)
+    return true;
+    else
+    return false;
+}
+
+// ...............................................................................
+
+bool Stepper::ESL_Activeated()
+{
+    bool retval;
+    
+    if (_Invert_ESL)
+    {
+        if (_Endstop_Left)  retval = true; else retval = false;
+    }
+    else
+    {
+        if (_Endstop_Left)  retval = false; else retval = true; // 
+    }
+    
+    if (retval)
+    {
+        StepCount = 0;  // might be very bad for H-BOT
+    }
+     
+    return retval;
+}
+
+//
+
+bool Stepper::ESR_Activeated()
+{
+    if (_Invert_ESR)
+    {
+        if(_Endstop_Right) return true; else return false;
+    }
+    else
+    {
+        if(_Endstop_Right) return false; else return true;
+    }
+}
+// ------------------------------------------------------------------------------------
+
+// test if endstop is triggerd.
+// ** will return false if not triggerd AND false if pin is NC
+// ** user should test if connected befor in a nested routeen from MAIN !!
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+/*  **********************************************************************
+
+**
+*   `   want an entity for a SINGLE Stepper motor, and assosiated things ..
+
+        PINS:
+            step,
+            Direction,
+            Enable,
+            
+            endstop_left
+            endstop_right
+            
+            Direction_Invert (T/F)
+            
+        calls:
+            step
+            Endstop_Detected           
+**
+*
+*
+        Vars:
+            Number of steps to take
+*
+*
+**
+*       also need to be able to tell if endstops are defined
+*
+*
+
+    if (ESR  != NC) ESR_En = true; else ESR_En = false; // 44;
+    
+    // got 340 with g1 defined ..
+    // got 44 with NO define :)
+
+***************************
+
+        if (Endstop_Right_Enabled)
+        {
+        
+        }
+        else
+        {
+        
+        }
+
+* ********************************************************************* */
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