Diff: Stepper_motor.cpp

Revision:

1:6bf8f2422228

Parent:

0:2e00b81c9137

Child:

2:ecf401a37aa3

--- a/Stepper_motor.cpp	Fri May 11 06:06:10 2018 +0000
+++ b/Stepper_motor.cpp	Fri May 11 06:55:13 2018 +0000
@@ -1,15 +1,32 @@
 #include "Stepper_motor.h"
-
+/**
+ * [Stepper_motor::Stepper_motor 构造函数 初始化一个步进电机对象]
+ * @param _en           [en引脚]
+ * @param _stepPin      [step引脚]
+ * @param _dirPin       [dir引脚]
+ * @param Inter         [行程开关引脚]
+ * @param _ratio        [减速比]
+ * @param _micorstep    [细分数]
+ * @param _dir          [初始方向]
+ * @param _rec          [电机的转一圈所需脉冲数（未减速前）]
+ */
 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)
 {
     ratio = _ratio;
     microstep = _micorstep;
     dir = _dir;
-    Ori_rec = _rec;
+    Ori_rec = 360.0 / _rec;
     pos_dir = 1;
     this->enable();
 }
-
+/**
+ * [Stepper_motor::Config 步进电机角度速度控制]
+ * @param rec_rate [转速 单位deg/s]  
+ * @param rec      [转动的角度 单位 °]
+ * 若转动的角度为-1 则会一直转，此时rec_rate需大于0
+ * 除此之外，若转动角度或转速小于0，则电机反转
+ * 如在电机尚未停止前再次调用该函数，则会立刻开始新的电机运动
+ */
 void Stepper_motor::Config(float rec_rate,float rec)
 {
     if(rec < 0 && rec != -1)
@@ -37,11 +54,20 @@
     this->step(dir,frequency,remain);
     
 }
-
+/**
+ * [Stepper_motor::getDir 获取电机的转动方向dir]
+ * @return [dir]
+ */
 int Stepper_motor::getDir()
 {
     return this->dir;
 }
+
+/**
+ * [Stepper_motor::reConfig 步进电机反转]
+ * @param _rec [反转的角度]
+ * 速度为5°/s
+ */
 void Stepper_motor::reConfig(float _rec)
 {   
     dir = 1 - dir;
@@ -50,13 +76,19 @@
     this->enable();
     this->step(dir,frequency,remain);
 }
+
+/**
+ * [Stepper_motor::set 行程开关按下后的运动函数]
+ */
 void Stepper_motor::set()
 {
-    this -> Config(0,0);
+    this -> Config(0,0);//停止运动
     wait(0.01);
     this -> enable();
     this -> Config(-5,7);
 }
+
+/** [Stepper_motor::Init 步进电机初始化] */
 void Stepper_motor::Init()
 {
     this->Config(10,-1);