Keegan Hu / Mbed 2 deprecated Nucleo_pwm

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Dependencies:   stepper mbed

Fork of Nucleo_pwm by Biy Bill

Stepper_motor.cpp@0:2e00b81c9137, 2018-05-11 (annotated)

Committer:
Bilybill
Date:
Fri May 11 06:06:10 2018 +0000
Revision:
0:2e00b81c9137
Child:
1:6bf8f2422228
afd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bilybill 0:2e00b81c9137 1 #include "Stepper_motor.h"
Bilybill 0:2e00b81c9137 2
Bilybill 0:2e00b81c9137 3 Stepper_motor::Stepper_motor(PinName _en,PinName _stepPin,PinName _dirPin,PinName Inter,int _ratio,int _micorstep,int _dir,float _rec):Stepper(_en,_stepPin,_dirPin),InterruptIn(Inter)
Bilybill 0:2e00b81c9137 4 {
Bilybill 0:2e00b81c9137 5 ratio = _ratio;
Bilybill 0:2e00b81c9137 6 microstep = _micorstep;
Bilybill 0:2e00b81c9137 7 dir = _dir;
Bilybill 0:2e00b81c9137 8 Ori_rec = _rec;
Bilybill 0:2e00b81c9137 9 pos_dir = 1;
Bilybill 0:2e00b81c9137 10 this->enable();
Bilybill 0:2e00b81c9137 11 }
Bilybill 0:2e00b81c9137 12
Bilybill 0:2e00b81c9137 13 void Stepper_motor::Config(float rec_rate,float rec)
Bilybill 0:2e00b81c9137 14 {
Bilybill 0:2e00b81c9137 15 if(rec < 0 && rec != -1)
Bilybill 0:2e00b81c9137 16 {
Bilybill 0:2e00b81c9137 17 rec_rate = 0 - rec_rate;
Bilybill 0:2e00b81c9137 18 rec = 0 - rec;
Bilybill 0:2e00b81c9137 19 }
Bilybill 0:2e00b81c9137 20 long long int frequency = rec_rate * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 21 if(frequency < 0)
Bilybill 0:2e00b81c9137 22 {
Bilybill 0:2e00b81c9137 23 dir = 1 - pos_dir;
Bilybill 0:2e00b81c9137 24 frequency = 0 - frequency;
Bilybill 0:2e00b81c9137 25 }
Bilybill 0:2e00b81c9137 26 else if(frequency == 0)
Bilybill 0:2e00b81c9137 27 {
Bilybill 0:2e00b81c9137 28 this->disable();
Bilybill 0:2e00b81c9137 29 return;
Bilybill 0:2e00b81c9137 30 }
Bilybill 0:2e00b81c9137 31 else if(frequency > 0)
Bilybill 0:2e00b81c9137 32 {
Bilybill 0:2e00b81c9137 33 dir = pos_dir;
Bilybill 0:2e00b81c9137 34 }
Bilybill 0:2e00b81c9137 35 long long int remain = rec * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 36 this->enable();
Bilybill 0:2e00b81c9137 37 this->step(dir,frequency,remain);
Bilybill 0:2e00b81c9137 38
Bilybill 0:2e00b81c9137 39 }
Bilybill 0:2e00b81c9137 40
Bilybill 0:2e00b81c9137 41 int Stepper_motor::getDir()
Bilybill 0:2e00b81c9137 42 {
Bilybill 0:2e00b81c9137 43 return this->dir;
Bilybill 0:2e00b81c9137 44 }
Bilybill 0:2e00b81c9137 45 void Stepper_motor::reConfig(float _rec)
Bilybill 0:2e00b81c9137 46 {
Bilybill 0:2e00b81c9137 47 dir = 1 - dir;
Bilybill 0:2e00b81c9137 48 long long int frequency = 5 * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 49 long long int remain = _rec * ratio * microstep / Ori_rec;
Bilybill 0:2e00b81c9137 50 this->enable();
Bilybill 0:2e00b81c9137 51 this->step(dir,frequency,remain);
Bilybill 0:2e00b81c9137 52 }
Bilybill 0:2e00b81c9137 53 void Stepper_motor::set()
Bilybill 0:2e00b81c9137 54 {
Bilybill 0:2e00b81c9137 55 this -> Config(0,0);
Bilybill 0:2e00b81c9137 56 wait(0.01);
Bilybill 0:2e00b81c9137 57 this -> enable();
Bilybill 0:2e00b81c9137 58 this -> Config(-5,7);
Bilybill 0:2e00b81c9137 59 }
Bilybill 0:2e00b81c9137 60 void Stepper_motor::Init()
Bilybill 0:2e00b81c9137 61 {
Bilybill 0:2e00b81c9137 62 this->Config(10,-1);
Bilybill 0:2e00b81c9137 63 this->fall(this,&Stepper_motor::set);
Bilybill 0:2e00b81c9137 64 }