Keven Gomes / Mbed 2 deprecated 199_TESTER

This is a remote control tester, it uses a CNC, Ethernet Communication with a JAVAFX interface and a PLC in order to control some valves.

Dependencies:   EthernetInterface mbed-rtos mbed

Fork of CNC_CONTROLLER by Lahis Almeida

Stepp.cpp

Committer:
kevencastro7
Date:
2017-12-15
Revision:
2:835c883d81b0
Parent:
1:ef18c260ce02

File content as of revision 2:835c883d81b0:

#include "Stepp.h" 
 
Stepp::Stepp(PinName clk, PinName dir, PinName en) : _clk(clk), _dir(dir), _en(en) {
    _clk = 0, _dir = 0, _en = 0;
   
        debug = new Debug();
        this->speed = 50;
        this->acell = true;
        //PinName pinOrigin;
}
 
int Stepp::step(int n_steps, bool direction) {
    
        int accelspeed;
    if(this->acell) accelspeed = START_STOP_SPEED;
    else accelspeed = this->speed;
    
    _en = 0; // habilita move
      _dir = direction;
    
        for(int i=0; (i< n_steps && EixoMonitoring::stopAll == false); i++){
            
        if(this->acell){//linear acceleration
          if(i < START_STOP_SPEED) if (--accelspeed == this->speed) accelspeed ++; 
          if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
        }  
       
        _clk = 1;
        wait_us(1);
        _clk = 0;
        wait_us(1);
        wait_us(accelspeed);
    }
     _en = 1;

    return 1;
}
 
bool Stepp::findLimits(int n_steps, bool direction, PCF8574* sensor,int port) {
       
    int accelspeed = 0;
    if(this->acell) accelspeed = START_STOP_SPEED;
    else accelspeed = this->speed;
    
    int i = 0;
    _en   = 0; // habilita move   
    _dir  = direction;
    
      while(sensor->read(port) == 0 && EixoMonitoring::stopAll == false){ // n chegou na origem   
        
             if(this->acell){ //linear acceleration
               if(i < START_STOP_SPEED) if (--accelspeed == this->speed) accelspeed ++; 
               if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
             }  
               
             _clk = 1;
             wait_us(1);
             _clk = 0;
             wait_us(1);
             wait_us(accelspeed);
               
              i++;
        }
        _en = 1; 
        
        
        if(sensor->read(port) == 0){
           return 0;
        }
        else{
           return 1;           
         } 
} 

 
float Stepp::version(void) { // version() returns the version number of the library
    return VERSION;    
}