ferney alberto beltran molina / Mbed 2 deprecated 00_LAB_STEPMOTOR

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Dependencies:   mbed

stepmotor.cpp@1:5dfedc044f7a, 2018-03-21 (annotated)

Committer:
fabeltranm
Date:
Wed Mar 21 01:32:33 2018 +0000
Revision:
1:5dfedc044f7a
Parent:
0:2890f9a09e85 
bool cw

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabeltranm 0:2890f9a09e85 1
fabeltranm 0:2890f9a09e85 2 /******************************************************************************
fabeltranm 0:2890f9a09e85 3 Desarrollado por ferney beltran fbeltran@ecci.edu.co
fabeltranm 0:2890f9a09e85 4
fabeltranm 0:2890f9a09e85 5 libreria ejemplo para el motor paso a paso unipolar de 4 fases
fabeltranm 0:2890f9a09e85 6
fabeltranm 0:2890f9a09e85 7 ******************************************************************************/
fabeltranm 0:2890f9a09e85 8
fabeltranm 0:2890f9a09e85 9 //*****************************************************************************
fabeltranm 0:2890f9a09e85 10
fabeltranm 0:2890f9a09e85 11 #include "stepmotor.h"
fabeltranm 0:2890f9a09e85 12 #include "mbed.h"
fabeltranm 0:2890f9a09e85 13
fabeltranm 0:2890f9a09e85 14
fabeltranm 0:2890f9a09e85 15
fabeltranm 0:2890f9a09e85 16
fabeltranm 0:2890f9a09e85 17
fabeltranm 0:2890f9a09e85 18
fabeltranm 0:2890f9a09e85 19 stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4) : motor_out(in1,in2,in3,in4) {
fabeltranm 0:2890f9a09e85 20
fabeltranm 0:2890f9a09e85 21
fabeltranm 0:2890f9a09e85 22 motor_out=0x0;
fabeltranm 0:2890f9a09e85 23 nstep=0;
fabeltranm 0:2890f9a09e85 24 motorSpeed=1100;
fabeltranm 0:2890f9a09e85 25
fabeltranm 0:2890f9a09e85 26 }
fabeltranm 0:2890f9a09e85 27
fabeltranm 0:2890f9a09e85 28
fabeltranm 0:2890f9a09e85 29 void stepmotor::move() {
fabeltranm 0:2890f9a09e85 30
fabeltranm 0:2890f9a09e85 31 switch(nstep)
fabeltranm 0:2890f9a09e85 32 {
fabeltranm 0:2890f9a09e85 33 case 0: motor_out = 0x1; break; // 0001
fabeltranm 0:2890f9a09e85 34 case 1: motor_out = 0x3; break; // 0011
fabeltranm 0:2890f9a09e85 35 case 2: motor_out = 0x2; break; // 0010
fabeltranm 0:2890f9a09e85 36 case 3: motor_out = 0x6; break; // 0110
fabeltranm 0:2890f9a09e85 37 case 4: motor_out = 0x4; break; // 0100
fabeltranm 0:2890f9a09e85 38 case 5: motor_out = 0xC; break; // 1100
fabeltranm 0:2890f9a09e85 39 case 6: motor_out = 0x8; break; // 1000
fabeltranm 0:2890f9a09e85 40 case 7: motor_out = 0x9; break; // 1001
fabeltranm 0:2890f9a09e85 41
fabeltranm 0:2890f9a09e85 42 default: motor_out = 0x0; break; // 0000
fabeltranm 0:2890f9a09e85 43 }
fabeltranm 0:2890f9a09e85 44 wait_us(motorSpeed);
fabeltranm 0:2890f9a09e85 45
fabeltranm 0:2890f9a09e85 46 }
fabeltranm 0:2890f9a09e85 47
fabeltranm 0:2890f9a09e85 48 void stepmotor::set_speed(int speed){
fabeltranm 0:2890f9a09e85 49 motorSpeed=speed; //set motor speed us
fabeltranm 0:2890f9a09e85 50 }
fabeltranm 0:2890f9a09e85 51 uint32_t stepmotor::get_speed(){
fabeltranm 0:2890f9a09e85 52 return motorSpeed; //
fabeltranm 0:2890f9a09e85 53 }
fabeltranm 0:2890f9a09e85 54
fabeltranm 1:5dfedc044f7a 55 void stepmotor::step(uint32_t num_steps, bool cw) {
fabeltranm 0:2890f9a09e85 56 // funcion para mover el motor N pasos CW o CCW
fabeltranm 0:2890f9a09e85 57 // num_steps número de paso que da el motor
fabeltranm 0:2890f9a09e85 58 // cw =True para dirección en sentido del reloj
fabeltranm 0:2890f9a09e85 59 // cw =False para dirección contraria de las manecillas del reloj
fabeltranm 0:2890f9a09e85 60
fabeltranm 0:2890f9a09e85 61 uint32_t count=num_steps ;
fabeltranm 0:2890f9a09e85 62 while(count){
fabeltranm 1:5dfedc044f7a 63 if (cw) nstep++;
fabeltranm 1:5dfedc044f7a 64 else nstep--;
fabeltranm 0:2890f9a09e85 65 if (nstep>7) nstep=0;
fabeltranm 0:2890f9a09e85 66 if (nstep<0) nstep=7;
fabeltranm 0:2890f9a09e85 67 move();
fabeltranm 0:2890f9a09e85 68 count--;
fabeltranm 0:2890f9a09e85 69
fabeltranm 0:2890f9a09e85 70 }
fabeltranm 0:2890f9a09e85 71
fabeltranm 0:2890f9a09e85 72 }