Diff: lin_step_mtr.cpp

Revision:

8:f1d869d9b8df

Parent:

7:0d941d1140ad

Child:

11:2507965c1bec

--- a/lin_step_mtr.cpp	Mon Apr 27 17:26:51 2020 +0000
+++ b/lin_step_mtr.cpp	Tue Apr 28 20:57:32 2020 +0000
@@ -1,9 +1,8 @@
 // Code for the lin_step_mtr driver
 
 #include "lin_step_mtr.h"
-#include "debug.h"
 
-//Construtor
+//Construtors
 LinStepMtr::LinStepMtr(PinName A_f, PinName A_r, PinName B_f, PinName B_r, int m_rpm=MAX_RPM)
         :mtr_ctrl(B_r, A_r, B_f,A_f), max_speed((m_rpm > MAX_RPM) ? floor((float)MAX_RPM * 10/3):floor((float)m_rpm * 10/3)),
         max_rpm(m_rpm)
@@ -15,8 +14,6 @@
     
     min_rev_cnt = MIN_DOUBLE_VAL;
     max_rev_cnt = MAX_DOUBLE_VAL;
-    
-    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)
@@ -28,11 +25,12 @@
     cur_step = ONE;
 }
 
+// Destructor
 LinStepMtr::~LinStepMtr()
 {
 }
 
-
+// Member Functions
 float LinStepMtr::get_speed()
 {
     return (float) speed * 3 / 10;
@@ -53,8 +51,6 @@
         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()
@@ -68,8 +64,6 @@
         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()
@@ -83,16 +77,22 @@
     min_rev_cnt = MIN_DOUBLE_VAL;
 }
 
-
-
-
-
 LinStepMtr::Direction LinStepMtr::get_dir()
 {
     return dir;   
 }
 
-double LinStepMtr::rotate(Direction d, float rev)
+/* NOT SUPPORTED
+LinStepMtr::set_dir(Direction d)
+{
+    if(dir !=d)
+        dir = d;   
+}
+*/
+
+// NOTE: uses wait() instead of Thread::wait() because depending on speed, can be
+// waiting for under a millisecond, and Thread::wait() only supports ms
+double LinStepMtr::rotate(Direction d, float rev=1)
 { 
     int steps = floor(200 * rev);
     float w = 1/(float)speed;
@@ -123,10 +123,10 @@
     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) {
@@ -139,11 +139,11 @@
         Thread::wait(SPIN_WAIT);
     }
     speed = end_speed;
-*/    
+   
 }
 
 int LinStepMtr::spin_down(float rpm) {
-/*
+
     int end_speed;
     int s = speed;
     
@@ -159,20 +159,14 @@
     }
     speed = end_speed;
     return s;
-*/
+
 
     return -1;
 }
+*/
 
-// Private Step Class functions
-/*
-LinStepMtr::Step::Step() : cur_step(ONE)
-{
-            pc.printf("\n\nCalled Constructor\n  cur_step: %x\n",cur_step);  
-            
-            pc.printf("Step_Num val:\n  ONE = %x\n  TWO = %x\n  THREE = %x\n  FOUR = %x\n\n", ONE, TWO, THREE, FOUR); 
-};
-*/
+// Private Class: Step Functions
+
 LinStepMtr::Step_Num LinStepMtr::Step::get_cur_step()
 {
         return cur_step;
@@ -194,7 +188,6 @@
             cur_step = ONE; 
             break;      
     }
-    //pc.printf("  CUR_STEP = %x\n",cur_step);
     return cur_step;
 }