Revision 0:5ab22c563f6a, committed 2016-08-07

Comitter:

kikoaac

Date:

Sun Aug 07 12:47:30 2016 +0000

Commit message:

Stepper;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stepperMotor.h	Sun Aug 07 12:47:30 2016 +0000
@@ -0,0 +1,128 @@
+
+#ifndef Stepper_H
+#define Stepper_H
+
+#include "mbed.h"
+#define Front 1
+#define Back 2
+#define Stop 3
+#define Servo 4
+#define OFF 0
+#define ON 1
+
+int step[4] = {0,1,3,2};
+
+class Stepper
+{
+protected :
+    PinName Pin[2];
+    float bias;
+    Stepper& operator=(const Motor &m) {
+        return *this;
+    }
+
+public:
+
+    Stepper(PinName _pin1, PinName _pin2) : input(_pin1,_pin2) {
+        Max = 0;
+        state = Stop;
+        pulse = 0;
+        Step = 0;
+        intervalTime = 0.1;
+        start();
+        time = 0;
+    }
+
+
+    Stepper& operator= (float duty) {
+        if(duty<-0.01F)
+        {
+            duty = -0.01 / duty;
+            run(Back,duty);
+        }
+        else if(float(duty)>0.01F)
+        {
+            duty = 0.01 / duty;
+            run(Front,duty);
+        }
+        else run(Stop,0);
+        return *this;
+    }
+    void start() {
+        tick.attach(this,&Stepper::interval,0.01);
+
+    }
+    void run(int i,float duty) {
+        intervalTime = duty;
+        state = i;
+    }
+    float min,max;
+    void setbias_motor(float b) {
+        bias=b;
+    }
+    void duty_max(float Max) {
+        max=Max;
+    }
+    void duty_min(float Min) {
+        min=Min;
+    }
+    void setTarget(int tar)
+    {
+        target = tar;
+    }
+    int enable;
+    int state;
+    int target;
+    float Max;
+    bool finished;
+    int Step;
+    float angle;
+    int pulse;
+    int targetPulse;
+    float intervalTime;
+    BusOut input;
+    Ticker tick;
+    double time;
+    void interval() {
+        /*if(enable == OFF)
+        {
+            return;
+        }*/
+        time = time + 0.01;
+        if(intervalTime < time) {
+            time = 0;
+            if(state == Front) {
+                Step++;
+                if(Step>=4)Step = 0;
+                input = step[Step];
+                pulse++;
+
+                //printf("%d  %d  ",step[Step],Step);
+            }
+            if(state == Back) {
+                Step--;
+                if(Step<=-1)Step = 3;
+                input = step[Step];
+                pulse--;
+            }
+            if(state == Servo) {
+                if(pulse < target) {
+                    Step++;
+                    if(Step>=4)Step = 0;
+                    input = step[Step];
+                    pulse++;
+
+                    //printf("%d  %d  ",step[Step],Step);
+                }
+                if(pulse > target) {
+                    Step--;
+                    if(Step<=-1)Step = 3;
+                    input = step[Step];
+                    pulse--;
+                }
+            }
+        }
+    }
+};
+
+#endif /* PID_H */