Revision 1:a2c69c36861c, committed 2016-05-02

Comitter:

dylanslack

Date:

Mon May 02 14:28:23 2016 +0000

Parent:

0:c346170974bc

Commit message:

Initial commit

Changed in this revision

diff -r c346170974bc -r a2c69c36861c StepperMotor_X27168.h
--- a/StepperMotor_X27168.h	Tue Oct 20 00:36:06 2015 +0000
+++ b/StepperMotor_X27168.h	Mon May 02 14:28:23 2016 +0000
@@ -127,6 +127,9 @@
      */
     void angle_position(float angle);
     
+    int get_position();
+    
+    void set_position_dynamic(float pos);
 private:
     BusOut motor_control;       // 4-bit Bus Controlling the H-Brigde
     int max_position;           // Software Limit to motor rotation

diff -r c346170974bc -r a2c69c36861c Stepper_Motor_X27168.cpp
--- a/Stepper_Motor_X27168.cpp	Tue Oct 20 00:36:06 2015 +0000
+++ b/Stepper_Motor_X27168.cpp	Mon May 02 14:28:23 2016 +0000
@@ -95,4 +95,44 @@
 
 void StepperMotor_X27168::angle_position(float angle) {
     step_position(int(angle*2));
+}
+
+int StepperMotor_X27168::get_position() {
+    return cur_position;   
+}
+
+void StepperMotor_X27168::set_position_dynamic(float pos){
+     if(pos > max_position)
+        pos = max_position;
+    else if(pos < 0)
+        pos = 0;
+
+
+    int delta = abs(pos - cur_position);
+    speed = 100;
+    int max_speed = 1000;
+    //set_speed(speed);
+
+
+    while(cur_position < pos) {
+        if(abs(pos - cur_position) > delta/2 && speed < max_speed)
+            speed +=50;
+        if(abs(pos - cur_position) <= delta/2&& abs(pos - cur_position) <= 25 && speed >100)
+            speed -= 50;
+
+        step(0);
+    }
+    while(cur_position > pos) {
+        if(abs(pos - cur_position) > delta/2 && speed < max_speed)
+            speed +=50;
+        if(abs(pos - cur_position) <= delta/2 && abs(pos - cur_position) <= 25 && speed >100)
+            speed -= 50;
+
+        step(1);
+    }
+
+    step(2);
+
+
+
 }
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