Diff: umotor.cpp

Revision:

1:9cd4fd37eee0

Parent:

0:a3d5b06d790a

Child:

2:b769f13c7523

--- a/umotor.cpp	Sun Jan 29 23:53:10 2017 +0000
+++ b/umotor.cpp	Mon Jan 30 00:22:04 2017 +0000
@@ -1,3 +1,18 @@
+/** Projektiranje ugradbenih računalnih sustava
+* Interakcija sa linijom
+* @author: mario_meh
+* @code
+#include "mbed.h"
+#include "umotor.h"
+
+* int main() {
+*     Steper *bipolar = new Steper();
+*     while(1) {
+*         bipolar->u_motor();
+*    }
+* }
+* @endcode
+*/
 #include "mbed.h"
 #include "umotor.h"
 
@@ -6,9 +21,11 @@
 int koraka;
 int available = 1;
 static uint8_t step = 0;
-
+/** Unipolarni motor radi u half-step modu */
 const uint8_t schrittfolge[] = {0b1001, 0b1010, 0b0110, 0b0101};  // Vollschritt zwei Phasen
-
+/** Konstruktor 
+* inicijalizacija je: Steper <naziv> = new Steper;
+*/
 Steper::Steper() : coil1(PTD2), coil2(PTD0), coil3(PTD5), coil4(PTA13),
                     ledSec(PTB18), riseL(PTD6), fallL(PTD7), pbone(PTA5), pbtwo(PTA4)
 
@@ -37,7 +54,7 @@
         step = 0;
     
 } 
-
+/** <timer_isr()> zove stepper_steo() */
 void Steper::timer_isr() {
     
     static uint32_t g_tmr_cnt = 0;
@@ -76,10 +93,10 @@
     riseL = 1;
     fallL = 1;
     ledSec = 1;
-    
+    /** Imam flag za 2 tipkala */
     pbone.fall(this, &Steper::pboneCallback);
     pbtwo.fall(this, &Steper::pbtwoCallback);
-    
+    /** Započni timer da bi mogao zvati prekid <timer_isr> */
     t.start();
     toggler.attach(this, &Steper::timer_isr, 0.001);