Daniel David / A4988_stepper

Stepper motor driver lib.

Dependents:   weather_station_proj weather_station_project weather_station_proj_v1_2

Fork of StepperMotor by Matthew Else

stepper.cpp@1:3ea32ec0e172, 2018-07-01 (annotated)

Committer:
daniel_davvid
Date:
Sun Jul 01 12:00:18 2018 +0000
Revision:
1:3ea32ec0e172
Parent:
Stepper.cpp@0:52fb09e87581 
no  significant updates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniel_davvid 1:3ea32ec0e172 1 #include "stepper.h"
melse 0:52fb09e87581 2 #include "mbed.h"
melse 0:52fb09e87581 3
melse 0:52fb09e87581 4 stepper::stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir):en(_en),
melse 0:52fb09e87581 5 microstepping(ms1, ms2, ms3),
melse 0:52fb09e87581 6 stepPin(_stepPin),
melse 0:52fb09e87581 7 direction(dir)
melse 0:52fb09e87581 8 {
melse 0:52fb09e87581 9 }
melse 0:52fb09e87581 10
melse 0:52fb09e87581 11 void stepper::step(int microstep, int dir, float speed)
melse 0:52fb09e87581 12 {
melse 0:52fb09e87581 13 if (microstep == 1) {
melse 0:52fb09e87581 14 microstepping = 0;
melse 0:52fb09e87581 15 } else if (microstep <= 4) {
melse 0:52fb09e87581 16 microstepping = microstep / 2;
melse 0:52fb09e87581 17 } else if (microstep > 4) {
melse 0:52fb09e87581 18 microstepping = (microstep / 2) - 1;
melse 0:52fb09e87581 19 }
melse 0:52fb09e87581 20 if (dir == 1) {
melse 0:52fb09e87581 21 direction = 0;
melse 0:52fb09e87581 22 } else if (dir == 0) {
melse 0:52fb09e87581 23 direction = 1;
melse 0:52fb09e87581 24 }
melse 0:52fb09e87581 25
melse 0:52fb09e87581 26 // Step...
melse 0:52fb09e87581 27 stepPin = 1;
melse 0:52fb09e87581 28 wait(1/speed);
melse 0:52fb09e87581 29 stepPin = 0;
melse 0:52fb09e87581 30 wait(1/speed);
melse 0:52fb09e87581 31 }
melse 0:52fb09e87581 32
melse 0:52fb09e87581 33 void stepper::enable()
melse 0:52fb09e87581 34 {
melse 0:52fb09e87581 35 en = 0;
melse 0:52fb09e87581 36 }
melse 0:52fb09e87581 37
melse 0:52fb09e87581 38 void stepper::disable()
melse 0:52fb09e87581 39 {
melse 0:52fb09e87581 40 en = 1;
melse 0:52fb09e87581 41 }