Revision 1:6fbe104c6f37, committed 2016-11-03

Comitter:

kfforex

Date:

Thu Nov 03 17:14:37 2016 +0000

Parent:

0:52fb09e87581

Commit message:

before publish

Changed in this revision

--- a/Stepper.cpp	Sun Feb 24 16:23:02 2013 +0000
+++ b/Stepper.cpp	Thu Nov 03 17:14:37 2016 +0000
@@ -1,41 +1,45 @@
 #include "Stepper.h"
 #include "mbed.h"
 
-stepper::stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir):en(_en),
-    microstepping(ms1, ms2, ms3),
+stepper::stepper(PinName _en, PinName _stepPin, PinName dir):en(_en),
     stepPin(_stepPin),
     direction(dir)
 {
 }
 
-void stepper::step(int microstep, int dir, float speed)
-{
-    if (microstep == 1) {
-        microstepping = 0;
-    } else if (microstep <= 4) {
-        microstepping = microstep / 2;
-    } else if (microstep > 4) {
-        microstepping = (microstep / 2) - 1;
+void stepper::step(float tspeed){
+    
+    float speed;
+    //max acceleration limiting
+    if ((actualSpeed - tspeed) > MAX_ACCEL)
+        speed = actualSpeed - MAX_ACCEL;
+    else if ((actualSpeed - tspeed) < -MAX_ACCEL)
+        speed = actualSpeed + MAX_ACCEL;
+    else
+        speed = tspeed;
+
+    if (speed == 0) {
+        toggler.detach();
     }
-    if (dir == 1) {
+    else if(speed >0) {
         direction = 0;
-    } else if (dir == 0) {
-        direction = 1;
+        toggler.attach_us(this,&stepper::toggle_step,1000000/abs(speed)); 
     }
-    
-    //  Step...
-    stepPin = 1;
-    wait(1/speed);
-    stepPin = 0;
-    wait(1/speed);
+    else{
+        direction = 1;
+        toggler.attach_us(this,&stepper::toggle_step,1000000/abs(speed)); 
+    }
+    actualSpeed = speed; 
 }
 
-void stepper::enable()
-{
+void stepper::enable(){
     en = 0;
 }
 
-void stepper::disable()
-{
+void stepper::disable(){
     en = 1;
+}
+
+void stepper::toggle_step (){
+    stepPin = !stepPin; 
 }
\ No newline at end of file

--- a/Stepper.h	Sun Feb 24 16:23:02 2013 +0000
+++ b/Stepper.h	Thu Nov 03 17:14:37 2016 +0000
@@ -3,17 +3,19 @@
 #endif
 
 #include "mbed.h"
+#define MAX_ACCEL 500
 
-class stepper
-{
+class stepper{
 public:
-    stepper(PinName _en, PinName ms1, PinName ms2, PinName ms3, PinName _stepPin, PinName dir);
-    void step(int microstep, int dir, float speed);
+    stepper(PinName _en, PinName _stepPin, PinName dir);
+    void step(float speed);
     void enable();
     void disable();
+    void toggle_step();
 private:
+    float actualSpeed; 
     DigitalOut en;
-    BusOut microstepping;
     DigitalOut stepPin;
     DigitalOut direction;
+    Ticker toggler;
 };
\ No newline at end of file