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Final code for our 4180 Drawing Robot!
Dependencies: 4DGL-uLCD-SE gCodeParser mbed
Diff: motor.h
- Revision:
- 0:40576dfac535
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motor.h Tue Apr 29 21:51:29 2014 +0000 @@ -0,0 +1,147 @@ +#ifndef MOTOR_H +#define MOTOR_H + +#include "mbed.h" + +#define LEFT_MOTOR 0 +#define RIGHT_MOTOR 1 + +class Motor { + public: + + Motor(PinName s, PinName d, PinName ms0, PinName ms1, PinName ms2, PinName en, char L_R); + ~Motor(); + + inline void one_step(); + inline void one_step(char new_dir); + inline void enable(); + inline void disable(); + inline void set_dir(char new_dir); + inline void set_msLevel(char newLevel); + inline char get_msLevel(); + + enum { + MS_ONE = 1, + MS_TWO = 2, + MS_FOUR = 4, + MS_EIGHT = 8, + MS_SIXTEEN = 16, + MS_THIRTYTWO = 32 + }; + + + private: + + DigitalOut* step_pin; + DigitalOut* dir_pin; + DigitalOut* ms0_pin; + DigitalOut* ms1_pin; + DigitalOut* ms2_pin; + DigitalOut* enable_pin; + + char IN, OUT; + char msLevel; + +}; + +Motor::Motor(PinName s, PinName d, PinName ms0, PinName ms1, PinName ms2, PinName en, char L_R) { + + step_pin = new DigitalOut(s); + dir_pin = new DigitalOut(d); + ms0_pin = new DigitalOut(ms0); + ms1_pin = new DigitalOut(ms1); + ms2_pin = new DigitalOut(ms2); + enable_pin = new DigitalOut(en); + + switch(L_R) { + case LEFT_MOTOR: + IN = 1; OUT = 0; + break; + case RIGHT_MOTOR: + IN = 0; OUT = 1; + break; + default: + // ERROR + break; + } + + set_dir(IN); + set_msLevel(MS_THIRTYTWO); + enable(); +} + +Motor::~Motor() { + delete step_pin; + delete dir_pin; +} + +inline void Motor::enable() { + *enable_pin = 0; +} + +inline void Motor::disable() { + *enable_pin = 1; +} + + +inline void Motor::set_dir(char new_dir) { + *dir_pin = new_dir; +} + +inline void Motor::one_step() { + *step_pin = 0; + *step_pin = 1; + wait_us(6); + *step_pin = 0; +} + +inline void Motor::one_step(char new_dir) { + set_dir(new_dir); + one_step(); +} + +inline void Motor::set_msLevel(char newLevel) { + + int level = MS_ONE; + + switch(newLevel) { + case MS_ONE: + level = 0; + msLevel = MS_ONE; + break; + case MS_TWO: + level = 1; + msLevel = MS_TWO; + break; + case MS_FOUR: + level = 2; + msLevel = MS_FOUR; + break; + case MS_EIGHT: + level = 3; + msLevel = MS_EIGHT; + break; + case MS_SIXTEEN: + level = 4; + msLevel = MS_SIXTEEN; + break; + case MS_THIRTYTWO: + level = 5; + msLevel = MS_THIRTYTWO; + break; + default: + // Invalid microstep level! + break; + } + + *ms0_pin = level & 0x1; + *ms1_pin = (level >> 1) & 0x1; + *ms2_pin = (level >> 2) & 0x1; + +} + +inline char Motor::get_msLevel() { + return msLevel; +} + +#endif \ No newline at end of file