Fiona Lin
/
cap_sense
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stepper.cpp@1:40e5ac1119a6, 2022-07-12 (annotated)
- Committer:
- fionalin
- Date:
- Tue Jul 12 13:02:25 2022 -0400
- Revision:
- 1:40e5ac1119a6
- Parent:
- 0:4e3ad938564e
- Child:
- 2:d9745be6c253
updated to macro format
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| fionalin | 0:4e3ad938564e | 1 | #include <mbed.h> |
| fionalin | 0:4e3ad938564e | 2 | #include "stepper.h" |
| fionalin | 0:4e3ad938564e | 3 | #include <chrono> |
| fionalin | 0:4e3ad938564e | 4 | //#include <thread> |
| fionalin | 0:4e3ad938564e | 5 | |
| fionalin | 1:40e5ac1119a6 | 6 | StepperMotor::StepperMotor(PinName enable_pin, |
| fionalin | 1:40e5ac1119a6 | 7 | PinName step_pin, |
| fionalin | 1:40e5ac1119a6 | 8 | PinName dir_pin, |
| fionalin | 1:40e5ac1119a6 | 9 | PinName ms1_pin, |
| fionalin | 1:40e5ac1119a6 | 10 | PinName ms2_pin, |
| fionalin | 1:40e5ac1119a6 | 11 | PinName ms3_pin |
| fionalin | 1:40e5ac1119a6 | 12 | ) |
| fionalin | 1:40e5ac1119a6 | 13 | : enable(enable_pin), step(step_pin), dir(dir_pin), ms1(ms1_pin), ms2(ms2_pin), ms3(ms3_pin), |
| fionalin | 1:40e5ac1119a6 | 14 | count(0) {enable = 0;} |
| fionalin | 0:4e3ad938564e | 15 | |
| fionalin | 0:4e3ad938564e | 16 | void StepperMotor::step_positive() { |
| fionalin | 1:40e5ac1119a6 | 17 | dir = 0; |
| fionalin | 0:4e3ad938564e | 18 | step = 1; |
| fionalin | 1:40e5ac1119a6 | 19 | wait_us(40); |
| fionalin | 0:4e3ad938564e | 20 | step = 0; |
| fionalin | 1:40e5ac1119a6 | 21 | wait_us(40); |
| fionalin | 0:4e3ad938564e | 22 | } |
| fionalin | 0:4e3ad938564e | 23 | |
| fionalin | 0:4e3ad938564e | 24 | void StepperMotor::step_negative() { |
| fionalin | 1:40e5ac1119a6 | 25 | dir = 1; |
| fionalin | 0:4e3ad938564e | 26 | step = 1; |
| fionalin | 1:40e5ac1119a6 | 27 | wait_us(40); |
| fionalin | 0:4e3ad938564e | 28 | step = 0; |
| fionalin | 1:40e5ac1119a6 | 29 | wait_us(40); |
| fionalin | 0:4e3ad938564e | 30 | } |
| fionalin | 0:4e3ad938564e | 31 | |
| fionalin | 0:4e3ad938564e | 32 | int32_t StepperMotor::get_steps() { |
| fionalin | 0:4e3ad938564e | 33 | return count; |
| fionalin | 0:4e3ad938564e | 34 | } |
| fionalin | 0:4e3ad938564e | 35 | |
| fionalin | 0:4e3ad938564e | 36 | void StepperMotor::reset_step_count() { |
| fionalin | 0:4e3ad938564e | 37 | count = 0; |
| fionalin | 0:4e3ad938564e | 38 | } |