Keegan Hu
ddd
a4988.cpp@2:e9699816ff84, 2018-06-03 (annotated)
- Committer:
- glintligo
- Date:
- Sun Jun 03 10:17:37 2018 +0000
- Revision:
- 2:e9699816ff84
- Parent:
- 1:88f743f3e7a7
gdfs;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| glintligo | 0:173936452e07 | 1 | #include "a4988.h" |
| glintligo | 0:173936452e07 | 2 | #include "mbed.h" |
| glintligo | 2:e9699816ff84 | 3 | extern int stepok; |
| glintligo | 0:173936452e07 | 4 | Stepper::Stepper(PinName _en, PinName _stepPin, PinName _direction):en(_en), |
| glintligo | 0:173936452e07 | 5 | stepPin(_stepPin), |
| glintligo | 0:173936452e07 | 6 | direction(_direction) |
| glintligo | 0:173936452e07 | 7 | { |
| glintligo | 0:173936452e07 | 8 | |
| glintligo | 0:173936452e07 | 9 | } |
| Bilybill | 1:88f743f3e7a7 | 10 | void Stepper::step(int dir, long long int frequency ,volatile long long 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; |
| Bilybill | 1:88f743f3e7a7 | 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 | 2:e9699816ff84 | 35 | { |
| glintligo | 2:e9699816ff84 | 36 | stepok = 1; |
| glintligo | 2:e9699816ff84 | 37 | return ; |
| glintligo | 0:173936452e07 | 38 | } |
| Bilybill | 1:88f743f3e7a7 | 39 | if(remain < 0 ) |
| Bilybill | 1:88f743f3e7a7 | 40 | { |
| Bilybill | 1:88f743f3e7a7 | 41 | if(stepPin){ |
| Bilybill | 1:88f743f3e7a7 | 42 | stepPin = 0; //STEP 1->0 |
| Bilybill | 1:88f743f3e7a7 | 43 | }else{ |
| Bilybill | 1:88f743f3e7a7 | 44 | stepPin = 1; //STEP 0->1 |
| Bilybill | 1:88f743f3e7a7 | 45 | } |
| Bilybill | 1:88f743f3e7a7 | 46 | } |
| Bilybill | 1:88f743f3e7a7 | 47 | |
| Bilybill | 1:88f743f3e7a7 | 48 | if(stepPin){ |
| Bilybill | 1:88f743f3e7a7 | 49 | stepPin = 0; //STEP 1->0 |
| Bilybill | 1:88f743f3e7a7 | 50 | remain--; |
| Bilybill | 1:88f743f3e7a7 | 51 | }else{ |
| Bilybill | 1:88f743f3e7a7 | 52 | stepPin = 1; //STEP 0->1 |
| Bilybill | 1:88f743f3e7a7 | 53 | } |
| glintligo | 0:173936452e07 | 54 | } |