Diff: stepper.cpp

Revision:

3:e98454afa038

Parent:

2:ad11f550b379

--- a/stepper.cpp	Wed Nov 03 18:41:28 2010 +0000
+++ b/stepper.cpp	Wed Aug 28 19:02:39 2019 +0000
@@ -23,39 +23,55 @@
 #include "mbed.h"
 
  // define the Stepper Motor save start/stop speed 
-#define START_STOP_SPEED 300
+#define START_STOP_SPEED 500
 
 // define Library version number
 #define VERSION 0.3
 
 // led4, used for testing the direction signal
-DigitalOut led4(LED4);
 
-stepper::stepper(PinName clk, PinName dir) : _clk(clk), _dir(dir) {
+stepper::stepper(PinName clk, PinName dir) : _clk(clk), _dir(dir), s_thread(osPriorityNormal) {
     _clk = 0, _dir = 0;
+    s_thread.start(this, &stepper::run);
 }
 
 void stepper::step(int n_steps, bool direction, int speed, bool accel) {
-    int accelspeed;
-    if(accel) accelspeed = START_STOP_SPEED;
-    else accelspeed = speed;
-    for(int i=0; i<n_steps; i++) 
-    {
-        if(accel)//linear acceleration
-        {
-          if(i < START_STOP_SPEED) if (--accelspeed == speed) accelspeed ++; 
-          if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
-        }  
-        _dir = led4 = direction;
-        _clk = 1;
-        wait_us(1);
-        _clk = 0;
-        wait_us(1);
-        wait_us(accelspeed);
+    if(accel) s_accelspeed = START_STOP_SPEED;
+    else s_accelspeed = speed;
+    s_speed = speed;
+    s_direction = direction;
+    s_accel = accel;
+    s_n_steps = n_steps;
+    
+}
+void stepper::run() {
+    printf("stepper thread running");
+    while (true) {
+        if (s_n_steps != 0){
+            for(int i=0; i<s_n_steps; i++) 
+            {
+                if(s_accel)//linear acceleration
+                {
+                    if(i < START_STOP_SPEED) if (--s_accelspeed == s_speed) s_accelspeed ++; 
+                    if(i > (s_n_steps-START_STOP_SPEED)) if(++s_accelspeed == START_STOP_SPEED) s_accelspeed--;
+                }  
+                _dir =  s_direction;
+                _clk = 1;
+                wait_us(1);
+                _clk = 0;
+                wait_us(1);
+                wait_us(s_accelspeed);
+            }
+            s_n_steps = 0;
+        }
+        
+        
+        ThisThread::sleep_for(10);
     }
+    
 }
 
 // version() returns the version number of the library
 float stepper::version(void) {
     return VERSION;    
-}
\ No newline at end of file
+}