Diff: bmotor.cpp

Revision:

0:ccc31f6eba34

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bmotor.cpp	Wed Feb 08 08:36:14 2017 +0000
@@ -0,0 +1,92 @@
+#include "mbed.h"
+#include "bmotor.h"
+
+int pola[8][6] = {{1,0,1,0,1,1}, {0,0,0,0,1,1}, {1,1,0,0,1,1}, {1,1,0,0,0,0}, {1,1,0,1,0,1}, {0,0,0,1,0,1}, {1,0,1,1,0,1}, {1,0,1,0,0,0}};
+int brzina = 2400;
+volatile int kreni = 0;
+volatile int _gore = 8;
+volatile int _dolje = 0;
+int okretaja = 520;
+
+Bipolar::Bipolar() : ENA(PTB9),IN1(PTC1),IN2(PTC2),IN3(PTE21),IN4(PTE20),ENB(PTB10)
+
+{
+    startSM();
+    b_t.start();    
+    b_ticker.attach_us(this, &Bipolar::ciklusSM, brzina);    
+}
+
+void Bipolar::goreDolje(int y) {
+    static uint8_t i = 0;
+    if(b_t.read_us() > brzina*0.5) {
+        
+        switch(i) {
+            case 0:
+                ENA = pola[y][0];
+                i++;
+            case 1:
+                IN1 = pola[y][1];
+                i++;
+            case 2:
+                IN2 = pola[y][2];
+                i++;
+            case 3:
+                IN3 = pola[y][3];
+                i++;
+            case 4:
+                IN4 = pola[y][4];
+                i++;
+            case 5:
+                ENB = pola[y][5];
+                i = 0;
+            default:
+                i = 0;
+        }
+        b_t.reset();
+    } 
+}
+
+void Bipolar::potez() {
+    if(b_poz.p_gore == 1) {
+        goreDolje(--_gore);
+        if(_gore == 0) {
+            _gore = 8;
+        }
+    }
+    if(b_poz.p_dolje == 1) {
+        goreDolje(_dolje++);
+        if(_dolje == 8) {
+            _dolje = 0;
+        }
+    }
+}
+
+void Bipolar::ciklusSM() {
+    startSM();
+    for(int a = 0; a < okretaja; a++) {
+        potez();
+        if(a == (okretaja - 1)) {
+            b_poz.done = true;
+        }
+    }
+    stopSM();
+    kreni = 0;
+}
+
+void Bipolar::startSM() {
+    ENA = 0;
+    IN1 = 0;
+    IN2 = 0;
+    IN3 = 0;
+    IN4 = 0;
+    ENB = 0;
+}
+
+void Bipolar::stopSM() {
+    ENA = 1;
+    IN1 = 1;
+    IN2 = 1;
+    IN3 = 1;
+    IN4 = 1;
+    ENB = 1;
+}
\ No newline at end of file