Diff: lin_step_mtr.cpp

Revision:

7:0d941d1140ad

Parent:

6:0c5418e05145

Child:

8:f1d869d9b8df

--- a/lin_step_mtr.cpp	Mon Apr 27 14:42:19 2020 +0000
+++ b/lin_step_mtr.cpp	Mon Apr 27 17:26:51 2020 +0000
@@ -13,11 +13,10 @@
     dir = CW;
     cur_step = ONE;
     
-    stop_mtr = true;
-    terminate = false;
-    rotate_th = NULL;
+    min_rev_cnt = MIN_DOUBLE_VAL;
+    max_rev_cnt = MAX_DOUBLE_VAL;
     
-    cur_state = STOP_MOTOR;
+    pc.printf("Init:\nmin: %f\nmax:  %f\n",min_rev_cnt,max_rev_cnt);
 }
 
 LinStepMtr::LinStepMtr(PinName A_f, PinName A_r, PinName B_f, PinName B_r)
@@ -27,16 +26,10 @@
     speed = floor((double)DEFAULT_RPM * 10 / 3);
     dir = CW;
     cur_step = ONE;
-    
-    stop_mtr = true;
-    terminate = false;
-    
-    cur_state = STOP_MOTOR;
 }
 
 LinStepMtr::~LinStepMtr()
 {
-    this->end();
 }
 
 
@@ -45,117 +38,95 @@
     return (float) speed * 3 / 10;
 }
 
+void LinStepMtr::set_speed(float rpm) {
+    speed = floor((float)rpm * 10/3);
+}
+
 double LinStepMtr::get_rev()
 {
     return rev_cnt;
 }
 
+void LinStepMtr::set_min_rev_cnt(double rc)
+{
+    if(rc < MIN_DOUBLE_VAL || rc > MAX_DOUBLE_VAL)
+        min_rev_cnt = MIN_DOUBLE_VAL;
+    else
+        min_rev_cnt = rc;   
+        
+    pc.printf("min: %f\n", min_rev_cnt);
+}
+
+double LinStepMtr::get_min_rev_cnt()
+{
+    return min_rev_cnt;
+}
+
+void LinStepMtr::set_max_rev_cnt(double rc)
+{
+    if(rc < MIN_DOUBLE_VAL || rc > MAX_DOUBLE_VAL)
+        max_rev_cnt = MAX_DOUBLE_VAL;
+    else
+        max_rev_cnt = rc; 
+        
+    pc.printf("max:  %f\n",max_rev_cnt);
+}
+
+double LinStepMtr::get_max_rev_cnt()
+{
+    return max_rev_cnt;
+}
+
+void LinStepMtr::RESET_rev_cnts()
+{
+    max_rev_cnt = MAX_DOUBLE_VAL;
+    min_rev_cnt = MIN_DOUBLE_VAL;
+}
+
+
+
+
+
 LinStepMtr::Direction LinStepMtr::get_dir()
 {
     return dir;   
 }
 
-void LinStepMtr::init(double rpm, Direction d)
-{
-    terminate = false;
-    speed = floor(rpm * 10 / 3);
-    dir = d;
-    if (!rotate_th) {
-        rotate_th = new Thread(LinStepMtr::rotate_help, this); 
-    }
-}
-
-void LinStepMtr::end() {
-    terminate = true;
-    Thread::wait(100);
-    if (rotate_th) {
-        delete rotate_th;
-        rotate_th = NULL;   
-    }
-}
-
-void LinStepMtr::start() {
-    stop_mtr = false;
-    spin_up();   
-}
-
-void LinStepMtr::start(Direction d) {
-    if(dir != d){
-        dir = d;
-    }
-    stop_mtr = false;
-    spin_up();   
-}
-
-void LinStepMtr::stop() {
-    int s = spin_down();
-    stop_mtr = true;   
-    speed = s;
-}
-
-void LinStepMtr::rotate_help(void const *args)
-{
-    LinStepMtr *instPtr = static_cast<LinStepMtr *>(const_cast<void *>(args));
-    
-    instPtr->rotate();
-}
-
-void LinStepMtr::change_dir(Direction d)
-{
-    if(dir != d) {
-        if(stop_mtr) {
-            dir = d;
-        } else {
-            int s = spin_down();
-            stop_mtr = true;
-            dir = d;
-            stop_mtr = false;
-            spin_up(s);   
-        }
-    }
-}
-
-void LinStepMtr::change_speed(float rpm)
-{
-    speed = floor(rpm * 10 / 3);
-}
-
-void LinStepMtr::rotate()
-{
-//    pc.printf("Called rotate()\n");
- /*
-    while(1) {
+double LinStepMtr::rotate(Direction d, float rev)
+{ 
+    int steps = floor(200 * rev);
+    float w = 1/(float)speed;
+    switch(d){
+        case CW:
+            for (int i = 0; i < steps; ++i) {
+                if(rev_cnt > max_rev_cnt -.005){
+                    break;
+                }
+                    mtr_ctrl = ++cur_step;
+                    rev_cnt += .005;
+                    wait(w);
+            }
+            break;
+        case CCW:
+            for (int i = 0; i < steps; ++i) {
+                if (rev_cnt < min_rev_cnt + .005){
+                    break;
+                }
+                    mtr_ctrl = --cur_step;
+                    rev_cnt -= .005;
+                    wait(w);   
+            }
+            break;   
         
-        mtr_ctrl = ++cur_step;
-        rev_cnt +=.005;
-        wait(pause);
-    }
-*/
- 
-    while(!terminate) {
-        if(!stop_mtr){
-            switch(dir) {
-                case CW:
-                    mtr_ctrl = ++cur_step;
-                    rev_cnt +=.005;
-                    break;
-                case CCW:
-                    mtr_ctrl = --cur_step;
-                    rev_cnt-=.005;
-                    break;
-            }
-           wait(1/ (float) speed);   
-        } else {
-            mtr_ctrl = STOP;   
-            Thread::yield();
-        }
     }   
-
+    mtr_ctrl = STOP;
+    return rev_cnt;
 }
 
 #define SPIN_INCR 83 // steps
 #define SPIN_WAIT 10 // ms
 void LinStepMtr::spin_up(float rpm) {
+/*
     int end_speed;
     
     if(rpm == -1) {
@@ -168,10 +139,11 @@
         Thread::wait(SPIN_WAIT);
     }
     speed = end_speed;
-    
+*/    
 }
 
 int LinStepMtr::spin_down(float rpm) {
+/*
     int end_speed;
     int s = speed;
     
@@ -187,6 +159,9 @@
     }
     speed = end_speed;
     return s;
+*/
+
+    return -1;
 }
 
 // Private Step Class functions