Diff: Cylinder.h

Revision:

3:dfbd0ce2963a

Child:

4:b01a3ce6ef01

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Cylinder.h	Sun Jan 14 15:56:09 2018 +0000
@@ -0,0 +1,106 @@
+#ifndef Cylinder_h
+#define Cylinder_h
+#include "Arduino.h"
+#include "StepperMotor.h"
+
+class Cylinder: public StepperMotor{
+  public:
+    Cylinder(int, int, int, int, char, char);
+    ~Cylinder(void);
+    void Test_CW();
+    void Test_CCW();
+    void Sens_Rotation();
+    void Reach_Target();
+    void Update(unsigned char, unsigned char);
+    void Origin(int);
+    attachInterrupt(digitalPinToInterrupt(Cylinder_RackSensor), IRS_Rack, FALLING);
+    attachInterrupt(digitalPinToInterrupt(Cylinder_OriginSensor), IRS_Origin, FALLING);
+  private:
+    unsigned char stepcw, stepccw;
+    char          Buffer;
+    unsigned long stepnumber;
+    
+    
+};
+
+Cylinder::Cylinder(int OriginSensor, int stepPin, int dirPin, int EnablePin, char Pos_Min, char Pos_Max):StepperMotor(OriginSensor, stepPin, dirPin, EnablePin, Pos_Min, Pos_Max){ 
+}
+
+Cylinder::~Cylinder(void){
+}
+
+void Cylinder::IRS_Rack(){
+  stepnumber --
+}
+
+/*
+void Cylinder::Test_CW() {
+  stepcw = 0;
+  Buffer = sCurrentPos;
+  while (sTargetPos != Buffer) {
+    stepcw++;
+    Buffer++;
+    if (Buffer > sPos_Max) {
+      Buffer = sPos_Min;
+    }
+  }
+}
+
+void Cylinder::Test_CCW() {
+  stepccw = 0;
+  Buffer = sCurrentPos;
+  while (sTargetPos != Buffer) {
+    stepccw++;
+    Buffer--;
+    if (Buffer == 255)  Buffer = sPos_Max;
+  }
+}
+
+void Cylinder::Sens_Rotation() {
+  Test_CW();
+  Test_CCW();
+  if (stepccw >= stepcw) {
+    digitalWrite(sdirPin, HIGH);
+    stepnumber = stepcw;
+  }
+  else {
+    digitalWrite(sdirPin, LOW);
+    stepnumber = stepccw;
+  }
+}
+*/
+
+void Cylinder::Reach_Target() {
+  Sens_Rotation();
+  while (stepnumber != 0) {
+    analogWrite(sstepPin, 127);
+    while (digitalRead(Cylinder_RackSensor) == true);
+    Serial.print("StepNumber = ");
+    Serial.println(stepnumber);
+    /*if (digitalRead(Cylinder_RackSensor) == true) {
+      Serial.println("CAPTEUR");
+      stepnumber --;
+      Serial.print("StepNumber = ");
+      Serial.println(stepnumber);
+      if (stepnumber == 255)  stepnumber = 0;*/
+    }
+  }
+  analogWrite(sstepPin, 0);
+  sCurrentPos = sTargetPos;
+  CurrentPos = sCurrentPos;
+}
+
+void Cylinder::Update(unsigned char CurrentPos, unsigned char TargetPos) {
+  sTargetPos = TargetPos;
+  sCurrentPos = CurrentPos;
+  Reach_Target();
+}
+
+void Cylinder::Origin(int OriginSensor) {
+  digitalWrite(sdirPin, LOW);
+  analogWrite(sstepPin, 127);
+  while (digitalRead(sOriginSensor) == true);
+  analogWrite(sstepPin, 0);
+}
+
+#endif
\ No newline at end of file