Revision 3:9e9f3cd7fff0, committed 2018-07-17

Comitter:

glintligo

Date:

Tue Jul 17 00:28:36 2018 +0000

Parent:

2:57c57267b1da

Commit message:

beta2

Changed in this revision

--- a/a4988.cpp	Mon Jul 16 23:53:54 2018 +0000
+++ b/a4988.cpp	Tue Jul 17 00:28:36 2018 +0000
@@ -1,77 +1,109 @@
 #include "a4988.h"
 #include "mbed.h"
-Stepper::Stepper(PinName _en, PinName _stepPin, PinName _direction):en(_en),
-    stepPin(_stepPin),
-    direction(_direction)
+
+Stepper::Stepper(PinName _en, PinName _stepPin, PinName _direction) : en(_en),
+                                                                      stepPin(_stepPin),
+                                                                      direction(_direction)
 {
-    
 }
- 
-void Stepper::step(int dir, int frequency ,volatile int _remain)
+/**
+ * 转动特定脉冲
+ * @param dir          [运动方向]
+ * @param frequency    [脉冲周期]
+ * @param _remain      [脉冲个数]
+ */
+void Stepper::step(int dir, int frequency, volatile int _remain)
 {
-    if (dir == 1) {
+    if (dir == 1)
+    {
         direction = 0;
-    } else if (dir == 0) {
+    }
+    else if (dir == 0)
+    {
         direction = 1;
     }
-    else 
+    else
     {
         return;
     }
     remain = _remain;
-    step_ticker.attach(callback(this, &Stepper::step_control),0.5/frequency);
+    step_ticker.attach(callback(this, &Stepper::step_control), 0.5 / frequency);
 }
- 
+/**
+ * 启动步进电机
+ */
 void Stepper::enable()
 {
     en = 0;
 }
- 
+/**
+ * 关闭步进电机
+ */
 void Stepper::disable()
 {
     en = 1;
 }
-
+/**
+ * 步进电机控制程序
+ */
 void Stepper::step_control()
 {
-        if(remain <= 0)
-        {    
-            step_ticker.detach();     
-            return;
-        }
-        
-                if(stepPin){
-                        stepPin = 0; //STEP 1->0
-                        remain--;
-                }else{
-                        stepPin = 1; //STEP 0->1
-                }
+    if (remain <= 0)
+    {
+        step_ticker.detach();
+        return;
+    }
+
+    if (stepPin)
+    {
+        stepPin = 0; //STEP 1->0
+        remain--;
+    }
+    else
+    {
+        stepPin = 1; //STEP 0->1
+    }
 }
-
+/**
+ * 一直转
+ * @param dir          [运动方向]
+ * @param frequency    [脉冲周期]
+ */
 void Stepper::longrun(int dir, int frequency)
 {
-    if (dir == 1) {
+    if (dir == 1)
+    {
         direction = 0;
-    } else if (dir == 0) {
+    }
+    else if (dir == 0)
+    {
         direction = 1;
     }
-    else 
+    else
     {
         return;
     }
-    step_ticker.attach(callback(this, &Stepper::run_control),0.5/frequency);
+    step_ticker.attach(callback(this, &Stepper::run_control), 0.5 / frequency);
 }
-
+/**
+ * 一直转运动函数
+ */
 void Stepper::run_control()
 {
-                if(stepPin){
-                        stepPin = 0; //STEP 1->0
-                        remain--;
-                }else{
-                        stepPin = 1; //STEP 0->1
+    if (stepPin)
+    {
+        stepPin = 0; //STEP 1->0
+        remain--;
+    }
+    else
+    {
+        stepPin = 1; //STEP 0->1
+    }
 }
-}
+/**
+ * 停止一直转
+ */
 void Stepper::stoprun()
 {
     step_ticker.detach();
-}
\ No newline at end of file
+}

--- a/a4988.h	Mon Jul 16 23:53:54 2018 +0000
+++ b/a4988.h	Tue Jul 17 00:28:36 2018 +0000
@@ -1,18 +1,18 @@
 #ifndef __A4988_H
 #define __A4988_H
-#endif
 
 #include "mbed.h"
 class Stepper
 {
-public:
-    Stepper(PinName _en,PinName _stepPin, PinName _direction);
-    void step(int dir, int frequency ,volatile int _remain);
-    void longrun(int dir,int frequency);
+  public:
+    Stepper(PinName _en, PinName _stepPin, PinName _direction);
+    void step(int dir, int frequency, volatile int _remain);
+    void longrun(int dir, int frequency);
     void stoprun();
     void enable();
     void disable();
-private:
+
+  private:
     DigitalOut en;
     DigitalOut stepPin;
     DigitalOut direction;
@@ -21,3 +21,4 @@
     void step_control();
     void run_control();
 };
+#endif
\ No newline at end of file