Fermedicius Labs
Test
Diff: FermeStepper.cpp
- Revision:
- 0:5ec996c00568
diff -r 000000000000 -r 5ec996c00568 FermeStepper.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FermeStepper.cpp Mon Jan 11 10:56:36 2021 +0000
@@ -0,0 +1,573 @@
+#include "FermeStepper.h"
+
+#include "mbed.h"
+
+int fermemotorSpeed; // Stepper speed
+
+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
+ _A0=0; // recepticle conveyor Pin 1
+ _A1=0; // recepticle conveyor Pin 2
+ _A2=0; // recepticle conveyor Pin 3
+ _A3=0; // recepticle conveyor Pin 4
+ _B0=0; // microtrack conveyor Pin 1
+ _B1=0; // microtrack conveyor Pin 2
+ _B2=0; // microtrack conveyor Pin 3
+ _B3=0; // microtrack conveyor Pin 4
+}
+
+void fermeMotor::anticlockwise(int flag1, int flag2, int motorspeed) // flag1 for recepticle conveyor, flag2 for microtrack conveyor
+{
+ for(int i = 0; i<8; i++)
+ {
+ if(flag1 == 1)
+ {
+ switch(i)
+ {
+ case 0:
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ break;
+
+ case 1:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 2:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ break;
+
+ case 3:
+ _A0=0;
+ _A1=1;
+ _A2=0;
+ _A3=1;
+ break;
+
+ case 4:
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=1;
+ break;
+
+ case 5:
+ _A0=1;
+ _A1=1;
+ _A2=1;
+ _A3=1;
+ break;
+
+ case 6:
+ _A0=1;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ break;
+
+ case 7:
+ _A0=1;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+
+ else if(flag1 == 0)
+ {
+ switch(i)
+ {
+ case 0:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 1:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 2:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 3:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 4:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 5:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 6:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 7:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+
+ if(flag2 == 1)
+ {
+ switch(i)
+ {
+ case 0:
+ _B0=1;
+ _B1=0;
+ _B2=0;
+ _B3=1;
+ break;
+
+ case 1:
+ _B0=1;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 2:
+ _B0=1;
+ _B1=1;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 3:
+ _B0=0;
+ _B1=1;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 4:
+ _B0=0;
+ _B1=1;
+ _B2=1;
+ _B3=0;
+ break;
+
+ case 5:
+ _B0=0;
+ _B1=0;
+ _B2=1;
+ _B3=0;
+ break;
+
+ case 6:
+ _B0=0;
+ _B1=0;
+ _B2=1;
+ _B3=1;
+ break;
+
+ case 7:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=1;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+
+ else if(flag2 == 0)
+ {
+ switch(i)
+ {
+ case 0:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 1:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 2:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 3:
+
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 4:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 5:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 6:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 7:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+ }
+}
+
+void fermeMotor::clockwise(int flag1, int flag2, int motorspeed)
+{
+ for (int i = 7; i >= 0; i--)
+ {
+ if(flag1 == 1)
+ {
+ switch(i)
+ {
+ case 0:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ break;
+
+ case 1:
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=1;
+ break;
+
+ case 2:
+ _A0=0;
+ _A1=0;
+ _A2=1;
+ _A3=0;
+ break;
+
+ case 3:
+ _A0=0;
+ _A1=1;
+ _A2=1;
+ _A3=0;
+ break;
+
+ case 4:
+ _A0=0;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 5:
+ _A0=1;
+ _A1=1;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 6:
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 7:
+ _A0=1;
+ _A1=0;
+ _A2=0;
+ _A3=1;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+
+ else if(flag1 == 0)
+ {
+ switch(i)
+ {
+ case 0:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 1:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 2:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 3:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 4:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 5:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 6:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+
+ case 7:
+ _A0=0;
+ _A1=0;
+ _A2=0;
+ _A3=0;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+
+ if(flag2 == 1)
+ {
+ switch(i)
+ {
+ case 0:
+ _B0=1;
+ _B1=0;
+ _B2=1;
+ _B3=0;
+ break;
+
+ case 1:
+ _B0=1;
+ _B1=0;
+ _B2=1;
+ _B3=1;
+ break;
+
+ case 2:
+ _B0=1;
+ _B1=1;
+ _B2=1;
+ _B3=1;
+ break;
+
+ case 3:
+ _B0=0;
+ _B1=1;
+ _B2=1;
+ _B3=1;
+ break;
+
+ case 4:
+ _B0=0;
+ _B1=1;
+ _B2=0;
+ _B3=1;
+ break;
+
+ case 5:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=1;
+ break;
+
+ case 6:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 7:
+ _B0=0;
+ _B1=0;
+ _B2=1;
+ _B3=0;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+
+ else if(flag2 == 0)
+ {
+ switch(i)
+ {
+ case 0:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 1:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 2:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 3:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 4:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 5:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 6:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+
+ case 7:
+ _B0=0;
+ _B1=0;
+ _B2=0;
+ _B3=0;
+ break;
+ }
+ wait_us(motorspeed); // wait time defines the speed
+ }
+ }
+}
+
+void fermeMotor::fstep(int num_stepsA, int num_stepsB, int direction, int speed)
+{
+ int count=0; // initalize step count
+ fermemotorSpeed=speed; //set motor speed
+ int num_steps = (num_stepsA > num_stepsB) ? num_stepsA : num_stepsB;
+ int flagA = 0;
+ int flagB = 0;
+ if (direction==0) // turn clockwise
+ {
+ do {
+ if(count < num_stepsA) flagA=1;
+ else flagA=0;
+ if(count < num_stepsB) flagB=1;
+ else flagB=0;
+ clockwise(flagA, flagB, fermemotorSpeed);
+ count++;
+ } while (count < num_steps); // turn number of steps applied
+ }
+
+ else if (direction==1)// turn anticlockwise: default direction for recepticle and microtrack conveyor to go forward
+ {
+ count=0;
+ do
+ {
+ if(count < num_stepsA) flagA=1;
+ else flagA=0;
+ if(count<num_stepsB) flagB=1;
+ else flagB=0;
+ anticlockwise(flagA, flagB, fermemotorSpeed);
+ count++;
+ } while (count < num_steps);// turn number of steps applied
+ }
+}
+
+/* The 2 stepper motors, recepticle and microtrack run in different directions in JuiceWorks machine.
+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).
+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)
+and the microtrack stepper will move forward in the clockwise direction = 0.
+*/
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