Michael Dushkoff
/
mMotor
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mMotor.cpp
00001 /* * * * * * * * * * * * * * * * * * * * * * * * * * * 00002 * This is a stepper motor library for testing * 00003 * 4 step stepper motors. The speed of stepping is * 00004 * variable as well as the amount of steps. * 00005 * ------------------------------------------------- * 00006 * This library is based on the sMotor library by * 00007 * Samuel Matildes (sam.naeec@gmail.com). * 00008 * ------------------------------------------------- * 00009 * * 00010 * Created by: Michael Dushkoff (mad1841@rit.edu) * 00011 * * * * * * * * * * * * * * * * * * * * * * * * * * */ 00012 00013 #include "mbed.h" 00014 #include "mMotor.h" 00015 00016 int motorSpeed; // Steper speed 00017 00018 mMotor::mMotor(PinName M0, PinName M1, PinName M2, PinName M3) : _M0(M0), _M1(M1), _M2(M2), _M3(M3) { // Defenition of motor pins 00019 _M0=0; 00020 _M1=0; 00021 _M2=0; 00022 _M3=0; 00023 } 00024 00025 00026 void mMotor::counterclockwise() { // rotate the motor 1 step anticlockwise 00027 for (int i = 0; i < 4; i++) { 00028 switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps 00029 case 0: { 00030 _M0=0; 00031 _M1=0; 00032 _M2=0; 00033 _M3=1; 00034 } 00035 break; 00036 case 1: { 00037 _M0=0; 00038 _M1=0; 00039 _M2=1; 00040 _M3=0; 00041 } 00042 break; 00043 case 2: { 00044 _M0=0; 00045 _M1=1; 00046 _M2=0; 00047 _M3=0; 00048 } 00049 break; 00050 case 3: { 00051 _M0=1; 00052 _M1=0; 00053 _M2=0; 00054 _M3=0; 00055 } 00056 break; 00057 } 00058 00059 wait_us(motorSpeed); // wait time defines the speed 00060 } 00061 _M0 = 0; 00062 _M1 = 0; 00063 _M2 = 0; 00064 _M3 = 0; 00065 } 00066 00067 void mMotor::clockwise() { // rotate the motor 1 step clockwise 00068 for (int i = 0; i < 4; i++) { 00069 switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps 00070 case 0: { 00071 _M0=1; 00072 _M1=0; 00073 _M2=0; 00074 _M3=0; 00075 } 00076 break; 00077 case 1: { 00078 _M0=0; 00079 _M1=1; 00080 _M2=0; 00081 _M3=0; 00082 } 00083 break; 00084 case 2: { 00085 _M0=0; 00086 _M1=0; 00087 _M2=1; 00088 _M3=0; 00089 } 00090 break; 00091 case 3: { 00092 _M0=0; 00093 _M1=0; 00094 _M2=0; 00095 _M3=1; 00096 } 00097 break; 00098 } 00099 00100 wait_us(motorSpeed); // wait time defines the speed 00101 } 00102 _M0 = 0; 00103 _M1 = 0; 00104 _M2 = 0; 00105 _M3 = 1; 00106 } 00107 00108 void mMotor::ht_clockwise() { // rotate the motor 1 step clockwise 00109 for (int i = 0; i < 4; i++) { 00110 switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps 00111 case 0: { 00112 _M0=1; 00113 _M1=0; 00114 _M2=0; 00115 _M3=0; 00116 } 00117 break; 00118 case 1: { 00119 _M0=0; 00120 _M1=1; 00121 _M2=0; 00122 _M3=0; 00123 } 00124 break; 00125 case 2: { 00126 _M0=0; 00127 _M1=0; 00128 _M2=1; 00129 _M3=0; 00130 } 00131 break; 00132 case 3: { 00133 _M0=0; 00134 _M1=0; 00135 _M2=0; 00136 _M3=1; 00137 } 00138 break; 00139 } 00140 00141 wait_us(motorSpeed); // wait time defines the speed 00142 } 00143 } 00144 00145 void mMotor::ht_counterclockwise() { // rotate the motor 1 step anticlockwise 00146 for (int i = 0; i < 4; i++) { 00147 switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps 00148 case 0: { 00149 _M0=0; 00150 _M1=0; 00151 _M2=0; 00152 _M3=1; 00153 } 00154 break; 00155 case 1: { 00156 _M0=0; 00157 _M1=0; 00158 _M2=1; 00159 _M3=0; 00160 } 00161 break; 00162 case 2: { 00163 _M0=0; 00164 _M1=1; 00165 _M2=0; 00166 _M3=0; 00167 } 00168 break; 00169 case 3: { 00170 _M0=1; 00171 _M1=0; 00172 _M2=0; 00173 _M3=0; 00174 } 00175 break; 00176 } 00177 00178 wait_us(motorSpeed); // wait time defines the speed 00179 } 00180 } 00181 00182 00183 void mMotor::step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200) 00184 int count=0; // initalize step count 00185 motorSpeed=speed; //set motor speed 00186 if (direction==0) // turn clockwise 00187 do { 00188 clockwise(); 00189 count++; 00190 } while (count<num_steps); // turn number of steps applied 00191 else if (direction==1)// turn anticlockwise 00192 do { 00193 counterclockwise(); 00194 count++; 00195 } while (count<num_steps);// turn number of steps applied 00196 00197 } 00198 00199 void mMotor::ht_step(int num_steps, int direction, int speed) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200) 00200 int count=0; // initalize step count 00201 motorSpeed=speed; //set motor speed 00202 if (direction==0) // turn clockwise 00203 do { 00204 ht_clockwise(); 00205 count++; 00206 } while (count<num_steps); // turn number of steps applied 00207 else if (direction==1)// turn anticlockwise 00208 do { 00209 ht_counterclockwise(); 00210 count++; 00211 } while (count<num_steps);// turn number of steps applied 00212 00213 }
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