Fermedicius Labs / FermeStepperr

Test

FermeStepper.cpp@0:5ec996c00568, 2021-01-11 (annotated)

Committer:
fermedicius
Date:
Mon Jan 11 10:56:36 2021 +0000
Revision:
0:5ec996c00568
Test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fermedicius 0:5ec996c00568 1 #include "FermeStepper.h"
fermedicius 0:5ec996c00568 2
fermedicius 0:5ec996c00568 3 #include "mbed.h"
fermedicius 0:5ec996c00568 4
fermedicius 0:5ec996c00568 5 int fermemotorSpeed; // Stepper speed
fermedicius 0:5ec996c00568 6
fermedicius 0:5ec996c00568 7 fermeMotor::fermeMotor(PinName A0, PinName A1, PinName A2, PinName A3, PinName B0, PinName B1, PinName B2, PinName B3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3), _B0(B0), _B1(B1), _B2(B2), _B3(B3) { // Defenition of motor pins
fermedicius 0:5ec996c00568 8 _A0=0; // recepticle conveyor Pin 1
fermedicius 0:5ec996c00568 9 _A1=0; // recepticle conveyor Pin 2
fermedicius 0:5ec996c00568 10 _A2=0; // recepticle conveyor Pin 3
fermedicius 0:5ec996c00568 11 _A3=0; // recepticle conveyor Pin 4
fermedicius 0:5ec996c00568 12 _B0=0; // microtrack conveyor Pin 1
fermedicius 0:5ec996c00568 13 _B1=0; // microtrack conveyor Pin 2
fermedicius 0:5ec996c00568 14 _B2=0; // microtrack conveyor Pin 3
fermedicius 0:5ec996c00568 15 _B3=0; // microtrack conveyor Pin 4
fermedicius 0:5ec996c00568 16 }
fermedicius 0:5ec996c00568 17
fermedicius 0:5ec996c00568 18 void fermeMotor::anticlockwise(int flag1, int flag2, int motorspeed) // flag1 for recepticle conveyor, flag2 for microtrack conveyor
fermedicius 0:5ec996c00568 19 {
fermedicius 0:5ec996c00568 20 for(int i = 0; i<8; i++)
fermedicius 0:5ec996c00568 21 {
fermedicius 0:5ec996c00568 22 if(flag1 == 1)
fermedicius 0:5ec996c00568 23 {
fermedicius 0:5ec996c00568 24 switch(i)
fermedicius 0:5ec996c00568 25 {
fermedicius 0:5ec996c00568 26 case 0:
fermedicius 0:5ec996c00568 27 _A0=0;
fermedicius 0:5ec996c00568 28 _A1=0;
fermedicius 0:5ec996c00568 29 _A2=1;
fermedicius 0:5ec996c00568 30 _A3=0;
fermedicius 0:5ec996c00568 31 break;
fermedicius 0:5ec996c00568 32
fermedicius 0:5ec996c00568 33 case 1:
fermedicius 0:5ec996c00568 34 _A0=0;
fermedicius 0:5ec996c00568 35 _A1=0;
fermedicius 0:5ec996c00568 36 _A2=0;
fermedicius 0:5ec996c00568 37 _A3=0;
fermedicius 0:5ec996c00568 38 break;
fermedicius 0:5ec996c00568 39
fermedicius 0:5ec996c00568 40 case 2:
fermedicius 0:5ec996c00568 41 _A0=0;
fermedicius 0:5ec996c00568 42 _A1=0;
fermedicius 0:5ec996c00568 43 _A2=0;
fermedicius 0:5ec996c00568 44 _A3=1;
fermedicius 0:5ec996c00568 45 break;
fermedicius 0:5ec996c00568 46
fermedicius 0:5ec996c00568 47 case 3:
fermedicius 0:5ec996c00568 48 _A0=0;
fermedicius 0:5ec996c00568 49 _A1=1;
fermedicius 0:5ec996c00568 50 _A2=0;
fermedicius 0:5ec996c00568 51 _A3=1;
fermedicius 0:5ec996c00568 52 break;
fermedicius 0:5ec996c00568 53
fermedicius 0:5ec996c00568 54 case 4:
fermedicius 0:5ec996c00568 55 _A0=0;
fermedicius 0:5ec996c00568 56 _A1=1;
fermedicius 0:5ec996c00568 57 _A2=1;
fermedicius 0:5ec996c00568 58 _A3=1;
fermedicius 0:5ec996c00568 59 break;
fermedicius 0:5ec996c00568 60
fermedicius 0:5ec996c00568 61 case 5:
fermedicius 0:5ec996c00568 62 _A0=1;
fermedicius 0:5ec996c00568 63 _A1=1;
fermedicius 0:5ec996c00568 64 _A2=1;
fermedicius 0:5ec996c00568 65 _A3=1;
fermedicius 0:5ec996c00568 66 break;
fermedicius 0:5ec996c00568 67
fermedicius 0:5ec996c00568 68 case 6:
fermedicius 0:5ec996c00568 69 _A0=1;
fermedicius 0:5ec996c00568 70 _A1=0;
fermedicius 0:5ec996c00568 71 _A2=1;
fermedicius 0:5ec996c00568 72 _A3=1;
fermedicius 0:5ec996c00568 73 break;
fermedicius 0:5ec996c00568 74
fermedicius 0:5ec996c00568 75 case 7:
fermedicius 0:5ec996c00568 76 _A0=1;
fermedicius 0:5ec996c00568 77 _A1=0;
fermedicius 0:5ec996c00568 78 _A2=1;
fermedicius 0:5ec996c00568 79 _A3=0;
fermedicius 0:5ec996c00568 80 break;
fermedicius 0:5ec996c00568 81 }
fermedicius 0:5ec996c00568 82 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 83 }
fermedicius 0:5ec996c00568 84
fermedicius 0:5ec996c00568 85 else if(flag1 == 0)
fermedicius 0:5ec996c00568 86 {
fermedicius 0:5ec996c00568 87 switch(i)
fermedicius 0:5ec996c00568 88 {
fermedicius 0:5ec996c00568 89 case 0:
fermedicius 0:5ec996c00568 90 _A0=0;
fermedicius 0:5ec996c00568 91 _A1=0;
fermedicius 0:5ec996c00568 92 _A2=0;
fermedicius 0:5ec996c00568 93 _A3=0;
fermedicius 0:5ec996c00568 94 break;
fermedicius 0:5ec996c00568 95
fermedicius 0:5ec996c00568 96 case 1:
fermedicius 0:5ec996c00568 97 _A0=0;
fermedicius 0:5ec996c00568 98 _A1=0;
fermedicius 0:5ec996c00568 99 _A2=0;
fermedicius 0:5ec996c00568 100 _A3=0;
fermedicius 0:5ec996c00568 101 break;
fermedicius 0:5ec996c00568 102
fermedicius 0:5ec996c00568 103 case 2:
fermedicius 0:5ec996c00568 104 _A0=0;
fermedicius 0:5ec996c00568 105 _A1=0;
fermedicius 0:5ec996c00568 106 _A2=0;
fermedicius 0:5ec996c00568 107 _A3=0;
fermedicius 0:5ec996c00568 108 break;
fermedicius 0:5ec996c00568 109
fermedicius 0:5ec996c00568 110 case 3:
fermedicius 0:5ec996c00568 111 _A0=0;
fermedicius 0:5ec996c00568 112 _A1=0;
fermedicius 0:5ec996c00568 113 _A2=0;
fermedicius 0:5ec996c00568 114 _A3=0;
fermedicius 0:5ec996c00568 115 break;
fermedicius 0:5ec996c00568 116
fermedicius 0:5ec996c00568 117 case 4:
fermedicius 0:5ec996c00568 118 _A0=0;
fermedicius 0:5ec996c00568 119 _A1=0;
fermedicius 0:5ec996c00568 120 _A2=0;
fermedicius 0:5ec996c00568 121 _A3=0;
fermedicius 0:5ec996c00568 122 break;
fermedicius 0:5ec996c00568 123
fermedicius 0:5ec996c00568 124 case 5:
fermedicius 0:5ec996c00568 125 _A0=0;
fermedicius 0:5ec996c00568 126 _A1=0;
fermedicius 0:5ec996c00568 127 _A2=0;
fermedicius 0:5ec996c00568 128 _A3=0;
fermedicius 0:5ec996c00568 129 break;
fermedicius 0:5ec996c00568 130
fermedicius 0:5ec996c00568 131 case 6:
fermedicius 0:5ec996c00568 132 _A0=0;
fermedicius 0:5ec996c00568 133 _A1=0;
fermedicius 0:5ec996c00568 134 _A2=0;
fermedicius 0:5ec996c00568 135 _A3=0;
fermedicius 0:5ec996c00568 136 break;
fermedicius 0:5ec996c00568 137
fermedicius 0:5ec996c00568 138 case 7:
fermedicius 0:5ec996c00568 139 _A0=0;
fermedicius 0:5ec996c00568 140 _A1=0;
fermedicius 0:5ec996c00568 141 _A2=0;
fermedicius 0:5ec996c00568 142 _A3=0;
fermedicius 0:5ec996c00568 143 break;
fermedicius 0:5ec996c00568 144 }
fermedicius 0:5ec996c00568 145 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 146 }
fermedicius 0:5ec996c00568 147
fermedicius 0:5ec996c00568 148 if(flag2 == 1)
fermedicius 0:5ec996c00568 149 {
fermedicius 0:5ec996c00568 150 switch(i)
fermedicius 0:5ec996c00568 151 {
fermedicius 0:5ec996c00568 152 case 0:
fermedicius 0:5ec996c00568 153 _B0=1;
fermedicius 0:5ec996c00568 154 _B1=0;
fermedicius 0:5ec996c00568 155 _B2=0;
fermedicius 0:5ec996c00568 156 _B3=1;
fermedicius 0:5ec996c00568 157 break;
fermedicius 0:5ec996c00568 158
fermedicius 0:5ec996c00568 159 case 1:
fermedicius 0:5ec996c00568 160 _B0=1;
fermedicius 0:5ec996c00568 161 _B1=0;
fermedicius 0:5ec996c00568 162 _B2=0;
fermedicius 0:5ec996c00568 163 _B3=0;
fermedicius 0:5ec996c00568 164 break;
fermedicius 0:5ec996c00568 165
fermedicius 0:5ec996c00568 166 case 2:
fermedicius 0:5ec996c00568 167 _B0=1;
fermedicius 0:5ec996c00568 168 _B1=1;
fermedicius 0:5ec996c00568 169 _B2=0;
fermedicius 0:5ec996c00568 170 _B3=0;
fermedicius 0:5ec996c00568 171 break;
fermedicius 0:5ec996c00568 172
fermedicius 0:5ec996c00568 173 case 3:
fermedicius 0:5ec996c00568 174 _B0=0;
fermedicius 0:5ec996c00568 175 _B1=1;
fermedicius 0:5ec996c00568 176 _B2=0;
fermedicius 0:5ec996c00568 177 _B3=0;
fermedicius 0:5ec996c00568 178 break;
fermedicius 0:5ec996c00568 179
fermedicius 0:5ec996c00568 180 case 4:
fermedicius 0:5ec996c00568 181 _B0=0;
fermedicius 0:5ec996c00568 182 _B1=1;
fermedicius 0:5ec996c00568 183 _B2=1;
fermedicius 0:5ec996c00568 184 _B3=0;
fermedicius 0:5ec996c00568 185 break;
fermedicius 0:5ec996c00568 186
fermedicius 0:5ec996c00568 187 case 5:
fermedicius 0:5ec996c00568 188 _B0=0;
fermedicius 0:5ec996c00568 189 _B1=0;
fermedicius 0:5ec996c00568 190 _B2=1;
fermedicius 0:5ec996c00568 191 _B3=0;
fermedicius 0:5ec996c00568 192 break;
fermedicius 0:5ec996c00568 193
fermedicius 0:5ec996c00568 194 case 6:
fermedicius 0:5ec996c00568 195 _B0=0;
fermedicius 0:5ec996c00568 196 _B1=0;
fermedicius 0:5ec996c00568 197 _B2=1;
fermedicius 0:5ec996c00568 198 _B3=1;
fermedicius 0:5ec996c00568 199 break;
fermedicius 0:5ec996c00568 200
fermedicius 0:5ec996c00568 201 case 7:
fermedicius 0:5ec996c00568 202 _B0=0;
fermedicius 0:5ec996c00568 203 _B1=0;
fermedicius 0:5ec996c00568 204 _B2=0;
fermedicius 0:5ec996c00568 205 _B3=1;
fermedicius 0:5ec996c00568 206 break;
fermedicius 0:5ec996c00568 207 }
fermedicius 0:5ec996c00568 208 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 209 }
fermedicius 0:5ec996c00568 210
fermedicius 0:5ec996c00568 211 else if(flag2 == 0)
fermedicius 0:5ec996c00568 212 {
fermedicius 0:5ec996c00568 213 switch(i)
fermedicius 0:5ec996c00568 214 {
fermedicius 0:5ec996c00568 215 case 0:
fermedicius 0:5ec996c00568 216 _B0=0;
fermedicius 0:5ec996c00568 217 _B1=0;
fermedicius 0:5ec996c00568 218 _B2=0;
fermedicius 0:5ec996c00568 219 _B3=0;
fermedicius 0:5ec996c00568 220 break;
fermedicius 0:5ec996c00568 221
fermedicius 0:5ec996c00568 222 case 1:
fermedicius 0:5ec996c00568 223 _B0=0;
fermedicius 0:5ec996c00568 224 _B1=0;
fermedicius 0:5ec996c00568 225 _B2=0;
fermedicius 0:5ec996c00568 226 _B3=0;
fermedicius 0:5ec996c00568 227 break;
fermedicius 0:5ec996c00568 228
fermedicius 0:5ec996c00568 229 case 2:
fermedicius 0:5ec996c00568 230 _B0=0;
fermedicius 0:5ec996c00568 231 _B1=0;
fermedicius 0:5ec996c00568 232 _B2=0;
fermedicius 0:5ec996c00568 233 _B3=0;
fermedicius 0:5ec996c00568 234 break;
fermedicius 0:5ec996c00568 235
fermedicius 0:5ec996c00568 236 case 3:
fermedicius 0:5ec996c00568 237
fermedicius 0:5ec996c00568 238 _B0=0;
fermedicius 0:5ec996c00568 239 _B1=0;
fermedicius 0:5ec996c00568 240 _B2=0;
fermedicius 0:5ec996c00568 241 _B3=0;
fermedicius 0:5ec996c00568 242 break;
fermedicius 0:5ec996c00568 243
fermedicius 0:5ec996c00568 244 case 4:
fermedicius 0:5ec996c00568 245 _B0=0;
fermedicius 0:5ec996c00568 246 _B1=0;
fermedicius 0:5ec996c00568 247 _B2=0;
fermedicius 0:5ec996c00568 248 _B3=0;
fermedicius 0:5ec996c00568 249 break;
fermedicius 0:5ec996c00568 250
fermedicius 0:5ec996c00568 251 case 5:
fermedicius 0:5ec996c00568 252 _B0=0;
fermedicius 0:5ec996c00568 253 _B1=0;
fermedicius 0:5ec996c00568 254 _B2=0;
fermedicius 0:5ec996c00568 255 _B3=0;
fermedicius 0:5ec996c00568 256 break;
fermedicius 0:5ec996c00568 257
fermedicius 0:5ec996c00568 258 case 6:
fermedicius 0:5ec996c00568 259 _B0=0;
fermedicius 0:5ec996c00568 260 _B1=0;
fermedicius 0:5ec996c00568 261 _B2=0;
fermedicius 0:5ec996c00568 262 _B3=0;
fermedicius 0:5ec996c00568 263 break;
fermedicius 0:5ec996c00568 264
fermedicius 0:5ec996c00568 265 case 7:
fermedicius 0:5ec996c00568 266 _B0=0;
fermedicius 0:5ec996c00568 267 _B1=0;
fermedicius 0:5ec996c00568 268 _B2=0;
fermedicius 0:5ec996c00568 269 _B3=0;
fermedicius 0:5ec996c00568 270 break;
fermedicius 0:5ec996c00568 271 }
fermedicius 0:5ec996c00568 272 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 273 }
fermedicius 0:5ec996c00568 274 }
fermedicius 0:5ec996c00568 275 }
fermedicius 0:5ec996c00568 276
fermedicius 0:5ec996c00568 277 void fermeMotor::clockwise(int flag1, int flag2, int motorspeed)
fermedicius 0:5ec996c00568 278 {
fermedicius 0:5ec996c00568 279 for (int i = 7; i >= 0; i--)
fermedicius 0:5ec996c00568 280 {
fermedicius 0:5ec996c00568 281 if(flag1 == 1)
fermedicius 0:5ec996c00568 282 {
fermedicius 0:5ec996c00568 283 switch(i)
fermedicius 0:5ec996c00568 284 {
fermedicius 0:5ec996c00568 285 case 0:
fermedicius 0:5ec996c00568 286 _A0=0;
fermedicius 0:5ec996c00568 287 _A1=0;
fermedicius 0:5ec996c00568 288 _A2=0;
fermedicius 0:5ec996c00568 289 _A3=1;
fermedicius 0:5ec996c00568 290 break;
fermedicius 0:5ec996c00568 291
fermedicius 0:5ec996c00568 292 case 1:
fermedicius 0:5ec996c00568 293 _A0=0;
fermedicius 0:5ec996c00568 294 _A1=0;
fermedicius 0:5ec996c00568 295 _A2=1;
fermedicius 0:5ec996c00568 296 _A3=1;
fermedicius 0:5ec996c00568 297 break;
fermedicius 0:5ec996c00568 298
fermedicius 0:5ec996c00568 299 case 2:
fermedicius 0:5ec996c00568 300 _A0=0;
fermedicius 0:5ec996c00568 301 _A1=0;
fermedicius 0:5ec996c00568 302 _A2=1;
fermedicius 0:5ec996c00568 303 _A3=0;
fermedicius 0:5ec996c00568 304 break;
fermedicius 0:5ec996c00568 305
fermedicius 0:5ec996c00568 306 case 3:
fermedicius 0:5ec996c00568 307 _A0=0;
fermedicius 0:5ec996c00568 308 _A1=1;
fermedicius 0:5ec996c00568 309 _A2=1;
fermedicius 0:5ec996c00568 310 _A3=0;
fermedicius 0:5ec996c00568 311 break;
fermedicius 0:5ec996c00568 312
fermedicius 0:5ec996c00568 313 case 4:
fermedicius 0:5ec996c00568 314 _A0=0;
fermedicius 0:5ec996c00568 315 _A1=1;
fermedicius 0:5ec996c00568 316 _A2=0;
fermedicius 0:5ec996c00568 317 _A3=0;
fermedicius 0:5ec996c00568 318 break;
fermedicius 0:5ec996c00568 319
fermedicius 0:5ec996c00568 320 case 5:
fermedicius 0:5ec996c00568 321 _A0=1;
fermedicius 0:5ec996c00568 322 _A1=1;
fermedicius 0:5ec996c00568 323 _A2=0;
fermedicius 0:5ec996c00568 324 _A3=0;
fermedicius 0:5ec996c00568 325 break;
fermedicius 0:5ec996c00568 326
fermedicius 0:5ec996c00568 327 case 6:
fermedicius 0:5ec996c00568 328 _A0=1;
fermedicius 0:5ec996c00568 329 _A1=0;
fermedicius 0:5ec996c00568 330 _A2=0;
fermedicius 0:5ec996c00568 331 _A3=0;
fermedicius 0:5ec996c00568 332 break;
fermedicius 0:5ec996c00568 333
fermedicius 0:5ec996c00568 334 case 7:
fermedicius 0:5ec996c00568 335 _A0=1;
fermedicius 0:5ec996c00568 336 _A1=0;
fermedicius 0:5ec996c00568 337 _A2=0;
fermedicius 0:5ec996c00568 338 _A3=1;
fermedicius 0:5ec996c00568 339 break;
fermedicius 0:5ec996c00568 340 }
fermedicius 0:5ec996c00568 341 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 342 }
fermedicius 0:5ec996c00568 343
fermedicius 0:5ec996c00568 344 else if(flag1 == 0)
fermedicius 0:5ec996c00568 345 {
fermedicius 0:5ec996c00568 346 switch(i)
fermedicius 0:5ec996c00568 347 {
fermedicius 0:5ec996c00568 348 case 0:
fermedicius 0:5ec996c00568 349 _A0=0;
fermedicius 0:5ec996c00568 350 _A1=0;
fermedicius 0:5ec996c00568 351 _A2=0;
fermedicius 0:5ec996c00568 352 _A3=0;
fermedicius 0:5ec996c00568 353 break;
fermedicius 0:5ec996c00568 354
fermedicius 0:5ec996c00568 355 case 1:
fermedicius 0:5ec996c00568 356 _A0=0;
fermedicius 0:5ec996c00568 357 _A1=0;
fermedicius 0:5ec996c00568 358 _A2=0;
fermedicius 0:5ec996c00568 359 _A3=0;
fermedicius 0:5ec996c00568 360 break;
fermedicius 0:5ec996c00568 361
fermedicius 0:5ec996c00568 362 case 2:
fermedicius 0:5ec996c00568 363 _A0=0;
fermedicius 0:5ec996c00568 364 _A1=0;
fermedicius 0:5ec996c00568 365 _A2=0;
fermedicius 0:5ec996c00568 366 _A3=0;
fermedicius 0:5ec996c00568 367 break;
fermedicius 0:5ec996c00568 368
fermedicius 0:5ec996c00568 369 case 3:
fermedicius 0:5ec996c00568 370 _A0=0;
fermedicius 0:5ec996c00568 371 _A1=0;
fermedicius 0:5ec996c00568 372 _A2=0;
fermedicius 0:5ec996c00568 373 _A3=0;
fermedicius 0:5ec996c00568 374 break;
fermedicius 0:5ec996c00568 375
fermedicius 0:5ec996c00568 376 case 4:
fermedicius 0:5ec996c00568 377 _A0=0;
fermedicius 0:5ec996c00568 378 _A1=0;
fermedicius 0:5ec996c00568 379 _A2=0;
fermedicius 0:5ec996c00568 380 _A3=0;
fermedicius 0:5ec996c00568 381 break;
fermedicius 0:5ec996c00568 382
fermedicius 0:5ec996c00568 383 case 5:
fermedicius 0:5ec996c00568 384 _A0=0;
fermedicius 0:5ec996c00568 385 _A1=0;
fermedicius 0:5ec996c00568 386 _A2=0;
fermedicius 0:5ec996c00568 387 _A3=0;
fermedicius 0:5ec996c00568 388 break;
fermedicius 0:5ec996c00568 389
fermedicius 0:5ec996c00568 390 case 6:
fermedicius 0:5ec996c00568 391 _A0=0;
fermedicius 0:5ec996c00568 392 _A1=0;
fermedicius 0:5ec996c00568 393 _A2=0;
fermedicius 0:5ec996c00568 394 _A3=0;
fermedicius 0:5ec996c00568 395 break;
fermedicius 0:5ec996c00568 396
fermedicius 0:5ec996c00568 397 case 7:
fermedicius 0:5ec996c00568 398 _A0=0;
fermedicius 0:5ec996c00568 399 _A1=0;
fermedicius 0:5ec996c00568 400 _A2=0;
fermedicius 0:5ec996c00568 401 _A3=0;
fermedicius 0:5ec996c00568 402 break;
fermedicius 0:5ec996c00568 403 }
fermedicius 0:5ec996c00568 404 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 405 }
fermedicius 0:5ec996c00568 406
fermedicius 0:5ec996c00568 407 if(flag2 == 1)
fermedicius 0:5ec996c00568 408 {
fermedicius 0:5ec996c00568 409 switch(i)
fermedicius 0:5ec996c00568 410 {
fermedicius 0:5ec996c00568 411 case 0:
fermedicius 0:5ec996c00568 412 _B0=1;
fermedicius 0:5ec996c00568 413 _B1=0;
fermedicius 0:5ec996c00568 414 _B2=1;
fermedicius 0:5ec996c00568 415 _B3=0;
fermedicius 0:5ec996c00568 416 break;
fermedicius 0:5ec996c00568 417
fermedicius 0:5ec996c00568 418 case 1:
fermedicius 0:5ec996c00568 419 _B0=1;
fermedicius 0:5ec996c00568 420 _B1=0;
fermedicius 0:5ec996c00568 421 _B2=1;
fermedicius 0:5ec996c00568 422 _B3=1;
fermedicius 0:5ec996c00568 423 break;
fermedicius 0:5ec996c00568 424
fermedicius 0:5ec996c00568 425 case 2:
fermedicius 0:5ec996c00568 426 _B0=1;
fermedicius 0:5ec996c00568 427 _B1=1;
fermedicius 0:5ec996c00568 428 _B2=1;
fermedicius 0:5ec996c00568 429 _B3=1;
fermedicius 0:5ec996c00568 430 break;
fermedicius 0:5ec996c00568 431
fermedicius 0:5ec996c00568 432 case 3:
fermedicius 0:5ec996c00568 433 _B0=0;
fermedicius 0:5ec996c00568 434 _B1=1;
fermedicius 0:5ec996c00568 435 _B2=1;
fermedicius 0:5ec996c00568 436 _B3=1;
fermedicius 0:5ec996c00568 437 break;
fermedicius 0:5ec996c00568 438
fermedicius 0:5ec996c00568 439 case 4:
fermedicius 0:5ec996c00568 440 _B0=0;
fermedicius 0:5ec996c00568 441 _B1=1;
fermedicius 0:5ec996c00568 442 _B2=0;
fermedicius 0:5ec996c00568 443 _B3=1;
fermedicius 0:5ec996c00568 444 break;
fermedicius 0:5ec996c00568 445
fermedicius 0:5ec996c00568 446 case 5:
fermedicius 0:5ec996c00568 447 _B0=0;
fermedicius 0:5ec996c00568 448 _B1=0;
fermedicius 0:5ec996c00568 449 _B2=0;
fermedicius 0:5ec996c00568 450 _B3=1;
fermedicius 0:5ec996c00568 451 break;
fermedicius 0:5ec996c00568 452
fermedicius 0:5ec996c00568 453 case 6:
fermedicius 0:5ec996c00568 454 _B0=0;
fermedicius 0:5ec996c00568 455 _B1=0;
fermedicius 0:5ec996c00568 456 _B2=0;
fermedicius 0:5ec996c00568 457 _B3=0;
fermedicius 0:5ec996c00568 458 break;
fermedicius 0:5ec996c00568 459
fermedicius 0:5ec996c00568 460 case 7:
fermedicius 0:5ec996c00568 461 _B0=0;
fermedicius 0:5ec996c00568 462 _B1=0;
fermedicius 0:5ec996c00568 463 _B2=1;
fermedicius 0:5ec996c00568 464 _B3=0;
fermedicius 0:5ec996c00568 465 break;
fermedicius 0:5ec996c00568 466 }
fermedicius 0:5ec996c00568 467 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 468 }
fermedicius 0:5ec996c00568 469
fermedicius 0:5ec996c00568 470 else if(flag2 == 0)
fermedicius 0:5ec996c00568 471 {
fermedicius 0:5ec996c00568 472 switch(i)
fermedicius 0:5ec996c00568 473 {
fermedicius 0:5ec996c00568 474 case 0:
fermedicius 0:5ec996c00568 475 _B0=0;
fermedicius 0:5ec996c00568 476 _B1=0;
fermedicius 0:5ec996c00568 477 _B2=0;
fermedicius 0:5ec996c00568 478 _B3=0;
fermedicius 0:5ec996c00568 479 break;
fermedicius 0:5ec996c00568 480
fermedicius 0:5ec996c00568 481 case 1:
fermedicius 0:5ec996c00568 482 _B0=0;
fermedicius 0:5ec996c00568 483 _B1=0;
fermedicius 0:5ec996c00568 484 _B2=0;
fermedicius 0:5ec996c00568 485 _B3=0;
fermedicius 0:5ec996c00568 486 break;
fermedicius 0:5ec996c00568 487
fermedicius 0:5ec996c00568 488 case 2:
fermedicius 0:5ec996c00568 489 _B0=0;
fermedicius 0:5ec996c00568 490 _B1=0;
fermedicius 0:5ec996c00568 491 _B2=0;
fermedicius 0:5ec996c00568 492 _B3=0;
fermedicius 0:5ec996c00568 493 break;
fermedicius 0:5ec996c00568 494
fermedicius 0:5ec996c00568 495 case 3:
fermedicius 0:5ec996c00568 496 _B0=0;
fermedicius 0:5ec996c00568 497 _B1=0;
fermedicius 0:5ec996c00568 498 _B2=0;
fermedicius 0:5ec996c00568 499 _B3=0;
fermedicius 0:5ec996c00568 500 break;
fermedicius 0:5ec996c00568 501
fermedicius 0:5ec996c00568 502 case 4:
fermedicius 0:5ec996c00568 503 _B0=0;
fermedicius 0:5ec996c00568 504 _B1=0;
fermedicius 0:5ec996c00568 505 _B2=0;
fermedicius 0:5ec996c00568 506 _B3=0;
fermedicius 0:5ec996c00568 507 break;
fermedicius 0:5ec996c00568 508
fermedicius 0:5ec996c00568 509 case 5:
fermedicius 0:5ec996c00568 510 _B0=0;
fermedicius 0:5ec996c00568 511 _B1=0;
fermedicius 0:5ec996c00568 512 _B2=0;
fermedicius 0:5ec996c00568 513 _B3=0;
fermedicius 0:5ec996c00568 514 break;
fermedicius 0:5ec996c00568 515
fermedicius 0:5ec996c00568 516 case 6:
fermedicius 0:5ec996c00568 517 _B0=0;
fermedicius 0:5ec996c00568 518 _B1=0;
fermedicius 0:5ec996c00568 519 _B2=0;
fermedicius 0:5ec996c00568 520 _B3=0;
fermedicius 0:5ec996c00568 521 break;
fermedicius 0:5ec996c00568 522
fermedicius 0:5ec996c00568 523 case 7:
fermedicius 0:5ec996c00568 524 _B0=0;
fermedicius 0:5ec996c00568 525 _B1=0;
fermedicius 0:5ec996c00568 526 _B2=0;
fermedicius 0:5ec996c00568 527 _B3=0;
fermedicius 0:5ec996c00568 528 break;
fermedicius 0:5ec996c00568 529 }
fermedicius 0:5ec996c00568 530 wait_us(motorspeed); // wait time defines the speed
fermedicius 0:5ec996c00568 531 }
fermedicius 0:5ec996c00568 532 }
fermedicius 0:5ec996c00568 533 }
fermedicius 0:5ec996c00568 534
fermedicius 0:5ec996c00568 535 void fermeMotor::fstep(int num_stepsA, int num_stepsB, int direction, int speed)
fermedicius 0:5ec996c00568 536 {
fermedicius 0:5ec996c00568 537 int count=0; // initalize step count
fermedicius 0:5ec996c00568 538 fermemotorSpeed=speed; //set motor speed
fermedicius 0:5ec996c00568 539 int num_steps = (num_stepsA > num_stepsB) ? num_stepsA : num_stepsB;
fermedicius 0:5ec996c00568 540 int flagA = 0;
fermedicius 0:5ec996c00568 541 int flagB = 0;
fermedicius 0:5ec996c00568 542 if (direction==0) // turn clockwise
fermedicius 0:5ec996c00568 543 {
fermedicius 0:5ec996c00568 544 do {
fermedicius 0:5ec996c00568 545 if(count < num_stepsA) flagA=1;
fermedicius 0:5ec996c00568 546 else flagA=0;
fermedicius 0:5ec996c00568 547 if(count < num_stepsB) flagB=1;
fermedicius 0:5ec996c00568 548 else flagB=0;
fermedicius 0:5ec996c00568 549 clockwise(flagA, flagB, fermemotorSpeed);
fermedicius 0:5ec996c00568 550 count++;
fermedicius 0:5ec996c00568 551 } while (count < num_steps); // turn number of steps applied
fermedicius 0:5ec996c00568 552 }
fermedicius 0:5ec996c00568 553
fermedicius 0:5ec996c00568 554 else if (direction==1)// turn anticlockwise: default direction for recepticle and microtrack conveyor to go forward
fermedicius 0:5ec996c00568 555 {
fermedicius 0:5ec996c00568 556 count=0;
fermedicius 0:5ec996c00568 557 do
fermedicius 0:5ec996c00568 558 {
fermedicius 0:5ec996c00568 559 if(count < num_stepsA) flagA=1;
fermedicius 0:5ec996c00568 560 else flagA=0;
fermedicius 0:5ec996c00568 561 if(count<num_stepsB) flagB=1;
fermedicius 0:5ec996c00568 562 else flagB=0;
fermedicius 0:5ec996c00568 563 anticlockwise(flagA, flagB, fermemotorSpeed);
fermedicius 0:5ec996c00568 564 count++;
fermedicius 0:5ec996c00568 565 } while (count < num_steps);// turn number of steps applied
fermedicius 0:5ec996c00568 566 }
fermedicius 0:5ec996c00568 567 }
fermedicius 0:5ec996c00568 568
fermedicius 0:5ec996c00568 569 /* The 2 stepper motors, recepticle and microtrack run in different directions in JuiceWorks machine.
fermedicius 0:5ec996c00568 570 The direction of the recepticle stepper motor is anticlockwise (i.e. direction = 1) and the direction of the microtrack stepper motor is clockwise (i.e. direction = 0).
fermedicius 0:5ec996c00568 571 Thus here in the function fermeMotor, direction = 1 is send as an default argument. This indicates that the the recepticle conveyor will move forward (anticlockwisse direction = 1)
fermedicius 0:5ec996c00568 572 and the microtrack stepper will move forward in the clockwise direction = 0.
fermedicius 0:5ec996c00568 573 */