Diff: Stepper_motor.cpp

Revision:

2:ecf401a37aa3

Parent:

1:6bf8f2422228

Child:

3:09f6061e6e5d

--- a/Stepper_motor.cpp	Fri May 11 06:55:13 2018 +0000
+++ b/Stepper_motor.cpp	Fri May 11 10:25:12 2018 +0000
@@ -1,4 +1,6 @@
 #include "Stepper_motor.h"
+#include "mbed.h"
+extern Serial Info;
 /**
  * [Stepper_motor::Stepper_motor 构造函数 初始化一个步进电机对象]
  * @param _en           [en引脚]
@@ -8,15 +10,15 @@
  * @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）]
+ * @param _rec          [步距角]
  */
 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 = 360.0 / _rec;
-    pos_dir = 1;
+    Ori_rec = _rec;
+    pos_dir = _dir;
     this->enable();
 }
 /**
@@ -50,6 +52,7 @@
         dir = pos_dir;
     }
     long long int remain = rec * ratio * microstep / Ori_rec;
+    Info.printf("remain:%d frequency:%d\n",remain, frequency);
     this->enable();
     this->step(dir,frequency,remain);