Revision 0:3c13a1d67866, committed 2016-07-11

Comitter:

lego

Date:

Mon Jul 11 09:13:37 2016 +0000

Commit message:

sla7026/7033 unipolar stepper motor halfmode

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/STEPPER.cpp	Mon Jul 11 09:13:37 2016 +0000
@@ -0,0 +1,57 @@
+#include "mbed.h"
+#include "STEPPER.h"
+
+STEPPER::STEPPER(
+PinName a, PinName a_, PinName b, PinName b_, int dir
+):
+ MotorPin(a, a_, b, b_)
+{
+    Direction = dir;
+    step_cw[0] = 0x9;
+    step_cw[1] = 0x8;
+    step_cw[2] = 0xa;
+    step_cw[3] = 0x2;
+    step_cw[4] = 0x6;
+    step_cw[5] = 0x4;
+    step_cw[6] = 0x5;
+    step_cw[7] = 0x1;
+    step_ccw[0] = 0x1;
+    step_ccw[1] = 0x5;
+    step_ccw[2] = 0x4;
+    step_ccw[3] = 0x6;
+    step_ccw[4] = 0x2;
+    step_ccw[5] = 0xa;
+    step_ccw[6] = 0x8;
+    step_ccw[7] = 0x9;
+    Speed = 1000;
+    count = 0;
+}
+
+STEPPER::~STEPPER()
+{
+    //?
+}
+
+void STEPPER::MotorStart()
+{
+   Motor.attach_us(this, &STEPPER::MotorControl,Speed);
+}
+
+void STEPPER::MotorOff()
+{
+    Motor.detach();
+    MotorPin = 0x0;
+}
+
+void STEPPER::SetSpeed(int speed)
+{
+    Speed = speed;
+}
+
+void STEPPER::MotorControl()
+{
+    count++;
+    if(count>7) count = 0;
+    if(Direction) MotorPin = step_ccw[count];
+    else MotorPin = step_cw[count];
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/STEPPER.h	Mon Jul 11 09:13:37 2016 +0000
@@ -0,0 +1,25 @@
+#include "mbed.h"
+#define CCW 1
+#define CW 0
+
+class STEPPER
+{
+    public:
+    STEPPER(PinName a, PinName a_, PinName b, PinName b_, int dir);
+    ~STEPPER();
+    void MotorStart();
+    void MotorOff();
+    void SetSpeed(int speed);
+    void MotorControl();
+    int step_cw[8];
+    int step_ccw[8];
+    int Speed;
+    int count;
+    int Direction;
+    
+    private:    
+    BusOut MotorPin;
+    Ticker Motor;
+    
+  
+};
\ No newline at end of file