Diff: ULN2003.cpp

Revision:

0:8a14924886c4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ULN2003.cpp	Tue Mar 05 13:18:24 2019 +0000
@@ -0,0 +1,117 @@
+#include "ULN2003.h"
+
+ULN2003::ULN2003(PinName pinOut1, PinName pinOut2, PinName pinOut3, PinName pinOut4, int full_turn_steps): 
+        _out1(pinOut1), _out2(pinOut2), _out3(pinOut3), _out4(pinOut4) {
+    _pos = 0;
+    _full_turn_steps = full_turn_steps;
+    relax();
+}
+
+void ULN2003::_set_output() {
+    switch (_pos) {
+        case 0: {
+            _out1=1;
+            _out2=0;
+            _out3=0;
+            _out4=0;
+            break;
+        }
+        case 1: {
+            _out1=1;
+            _out2=1;
+            _out3=0;
+            _out4=0;
+            break;
+        }
+        case 2: {
+            _out1=0;
+            _out2=1;
+            _out3=0;
+            _out4=0;
+            break;
+        }
+        case 3: {
+            _out1=0;
+            _out2=1;
+            _out3=1;
+            _out4=0;
+            break;
+        }
+        case 4: {
+            _out1=0;
+            _out2=0;
+            _out3=1;
+            _out4=0;
+            break;
+        }
+        case 5: {
+            _out1=0;
+            _out2=0;
+            _out3=1;
+            _out4=1;
+            break;
+        }
+        case 6: {
+            _out1=0;
+            _out2=0;
+            _out3=0;
+            _out4=1;
+            break;
+        }
+        case 7: {
+            _out1=1;
+            _out2=0;
+            _out3=0;
+            _out4=1;
+            break;
+        }
+    }
+}
+
+void ULN2003::stepForward() {
+    _pos++;
+    if (_pos > 7) _pos = 0;
+    _set_output();
+}
+
+void ULN2003::stepReverse() {
+    _pos--;
+    if (_pos < 0) _pos = 7;
+    _set_output();
+}
+
+void ULN2003::moveForward(int steps, float speed) {
+    int delay_us_value = (1.0/speed)*1000000; // speed is in Hz = steps/sec
+    
+    for (int i=0; i<steps; i++) {
+        stepForward();
+        wait_us(delay_us_value);
+    }
+    relax();
+}
+
+void ULN2003::moveReverse(int steps, float speed) {
+    int delay_us_value = (1.0/speed)*1000000; // speed is in Hz = steps/sec
+    
+    for (int i=0; i<steps; i++) {
+        stepForward();
+        wait_us(delay_us_value);
+    }
+    relax();
+}
+
+void ULN2003::turnForward(float turns, float speed) {
+    moveForward(_full_turn_steps*turns, _full_turn_steps*speed);
+}
+
+void ULN2003::turnReverse(float turns, float speed) {
+    moveForward(_full_turn_steps*turns, _full_turn_steps*speed);
+}
+
+
+void ULN2003::relax() {
+    _out1 = 0;
+    _out2 = 0;
+    _out3 = 0;
+    _out4 = 0;
+}
\ No newline at end of file