Diff: motor.h

Revision:

0:40576dfac535

diff -r 000000000000 -r 40576dfac535 motor.h
--- /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