Keegan Hu / a4998

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a4988.cpp@1:209911ee18cd, 2018-05-05 (annotated)

Committer:
glintligo
Date:
Sat May 05 14:11:09 2018 +0000
Revision:
1:209911ee18cd
Parent:
0:173936452e07 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
glintligo 0:173936452e07 1 #include "a4988.h"
glintligo 0:173936452e07 2 #include "mbed.h"
glintligo 0:173936452e07 3 Stepper::Stepper(PinName _en, PinName _stepPin, PinName _direction):en(_en),
glintligo 0:173936452e07 4 stepPin(_stepPin),
glintligo 0:173936452e07 5 direction(_direction)
glintligo 0:173936452e07 6 {
glintligo 0:173936452e07 7
glintligo 0:173936452e07 8 }
glintligo 0:173936452e07 9
glintligo 0:173936452e07 10 void Stepper::step(int dir, int frequency ,volatile int _remain)
glintligo 0:173936452e07 11 {
glintligo 0:173936452e07 12 //fun = &Stepper::step_control;
glintligo 0:173936452e07 13 if (dir == 1) {
glintligo 0:173936452e07 14 direction = 0;
glintligo 0:173936452e07 15 } else if (dir == 0) {
glintligo 0:173936452e07 16 direction = 1;
glintligo 0:173936452e07 17 }
glintligo 0:173936452e07 18 remain = _remain;
glintligo 1:209911ee18cd 19 step_ticker.attach(this, &Stepper::step_control,0.5/frequency);
glintligo 0:173936452e07 20 }
glintligo 0:173936452e07 21
glintligo 0:173936452e07 22 void Stepper::enable()
glintligo 0:173936452e07 23 {
glintligo 0:173936452e07 24 en = 0;
glintligo 0:173936452e07 25 }
glintligo 0:173936452e07 26
glintligo 0:173936452e07 27 void Stepper::disable()
glintligo 0:173936452e07 28 {
glintligo 0:173936452e07 29 en = 1;
glintligo 0:173936452e07 30 }
glintligo 0:173936452e07 31
glintligo 0:173936452e07 32 void Stepper::step_control()
glintligo 0:173936452e07 33 {
glintligo 0:173936452e07 34 if(remain == 0)
glintligo 0:173936452e07 35 {
glintligo 0:173936452e07 36 return;
glintligo 0:173936452e07 37 }
glintligo 0:173936452e07 38
glintligo 0:173936452e07 39 if(stepPin){
glintligo 0:173936452e07 40 stepPin = 0; //STEP 1->0
glintligo 0:173936452e07 41 remain--;
glintligo 0:173936452e07 42 }else{
glintligo 0:173936452e07 43 stepPin = 1; //STEP 0->1
glintligo 0:173936452e07 44 }
glintligo 0:173936452e07 45 }