Nicolás Camilo Guerrero Otálora
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codigopicolo2
CODIGO PICOLO
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stepmotor.cpp@1:629f060522ce, 2018-04-24 (annotated)
- Committer:
- nicolas_guerrero
- Date:
- Tue Apr 24 18:26:09 2018 +0000
- Revision:
- 1:629f060522ce
- Child:
- 2:2e94085cdc90
segundo corte
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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nicolas_guerrero | 1:629f060522ce | 1 | |
nicolas_guerrero | 1:629f060522ce | 2 | /****************************************************************************** |
nicolas_guerrero | 1:629f060522ce | 3 | Desarrollado por ferney beltran fbeltran@ecci.edu.co |
nicolas_guerrero | 1:629f060522ce | 4 | |
nicolas_guerrero | 1:629f060522ce | 5 | libreria ejemplo para el motor paso a paso unipolar de 4 fases |
nicolas_guerrero | 1:629f060522ce | 6 | |
nicolas_guerrero | 1:629f060522ce | 7 | ******************************************************************************/ |
nicolas_guerrero | 1:629f060522ce | 8 | |
nicolas_guerrero | 1:629f060522ce | 9 | //***************************************************************************** |
nicolas_guerrero | 1:629f060522ce | 10 | |
nicolas_guerrero | 1:629f060522ce | 11 | #include "stepmotor.h" |
nicolas_guerrero | 1:629f060522ce | 12 | #include "mbed.h" |
nicolas_guerrero | 1:629f060522ce | 13 | |
nicolas_guerrero | 1:629f060522ce | 14 | |
nicolas_guerrero | 1:629f060522ce | 15 | |
nicolas_guerrero | 1:629f060522ce | 16 | |
nicolas_guerrero | 1:629f060522ce | 17 | |
nicolas_guerrero | 1:629f060522ce | 18 | |
nicolas_guerrero | 1:629f060522ce | 19 | stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4) : motor_out(in1,in2,in3,in4) { |
nicolas_guerrero | 1:629f060522ce | 20 | |
nicolas_guerrero | 1:629f060522ce | 21 | |
nicolas_guerrero | 1:629f060522ce | 22 | motor_out=0x0; |
nicolas_guerrero | 1:629f060522ce | 23 | nstep=0; |
nicolas_guerrero | 1:629f060522ce | 24 | motorSpeed=1100; |
nicolas_guerrero | 1:629f060522ce | 25 | |
nicolas_guerrero | 1:629f060522ce | 26 | } |
nicolas_guerrero | 1:629f060522ce | 27 | |
nicolas_guerrero | 1:629f060522ce | 28 | |
nicolas_guerrero | 1:629f060522ce | 29 | void stepmotor::move() { |
nicolas_guerrero | 1:629f060522ce | 30 | |
nicolas_guerrero | 1:629f060522ce | 31 | switch(nstep) |
nicolas_guerrero | 1:629f060522ce | 32 | { |
nicolas_guerrero | 1:629f060522ce | 33 | case 0: motor_out = 0x1; break; // 0001 |
nicolas_guerrero | 1:629f060522ce | 34 | case 1: motor_out = 0x3; break; // 0011 |
nicolas_guerrero | 1:629f060522ce | 35 | case 2: motor_out = 0x2; break; // 0010 |
nicolas_guerrero | 1:629f060522ce | 36 | case 3: motor_out = 0x6; break; // 0110 |
nicolas_guerrero | 1:629f060522ce | 37 | case 4: motor_out = 0x4; break; // 0100 |
nicolas_guerrero | 1:629f060522ce | 38 | case 5: motor_out = 0xC; break; // 1100 |
nicolas_guerrero | 1:629f060522ce | 39 | case 6: motor_out = 0x8; break; // 1000 |
nicolas_guerrero | 1:629f060522ce | 40 | case 7: motor_out = 0x9; break; // 1001 |
nicolas_guerrero | 1:629f060522ce | 41 | |
nicolas_guerrero | 1:629f060522ce | 42 | default: motor_out = 0x0; break; // 0000 |
nicolas_guerrero | 1:629f060522ce | 43 | } |
nicolas_guerrero | 1:629f060522ce | 44 | wait_us(motorSpeed); |
nicolas_guerrero | 1:629f060522ce | 45 | |
nicolas_guerrero | 1:629f060522ce | 46 | } |
nicolas_guerrero | 1:629f060522ce | 47 | |
nicolas_guerrero | 1:629f060522ce | 48 | void stepmotor::set_speed(int speed){ |
nicolas_guerrero | 1:629f060522ce | 49 | motorSpeed=speed; //set motor speed us |
nicolas_guerrero | 1:629f060522ce | 50 | } |
nicolas_guerrero | 1:629f060522ce | 51 | uint32_t stepmotor::get_speed(){ |
nicolas_guerrero | 1:629f060522ce | 52 | return motorSpeed; // |
nicolas_guerrero | 1:629f060522ce | 53 | } |
nicolas_guerrero | 1:629f060522ce | 54 | |
nicolas_guerrero | 1:629f060522ce | 55 | void stepmotor::step(uint32_t cuadrante, bool cw) { |
nicolas_guerrero | 1:629f060522ce | 56 | // funcion para mover el motor N pasos CW o CCW |
nicolas_guerrero | 1:629f060522ce | 57 | // num_steps número de paso que da el motor |
nicolas_guerrero | 1:629f060522ce | 58 | // cw =True para dirección en sentido del reloj |
nicolas_guerrero | 1:629f060522ce | 59 | // cw =False para dirección contraria de las manecillas del reloj |
nicolas_guerrero | 1:629f060522ce | 60 | //cuadrante=cuadrante*0.199; |
nicolas_guerrero | 1:629f060522ce | 61 | float num_steps=cuadrante*814.87; |
nicolas_guerrero | 1:629f060522ce | 62 | uint32_t count=num_steps; |
nicolas_guerrero | 1:629f060522ce | 63 | while(count){ |
nicolas_guerrero | 1:629f060522ce | 64 | if (cw) nstep++; |
nicolas_guerrero | 1:629f060522ce | 65 | else nstep--; |
nicolas_guerrero | 1:629f060522ce | 66 | if (nstep>7) nstep=0; |
nicolas_guerrero | 1:629f060522ce | 67 | if (nstep<0) nstep=7; |
nicolas_guerrero | 1:629f060522ce | 68 | move(); |
nicolas_guerrero | 1:629f060522ce | 69 | count--; |
nicolas_guerrero | 1:629f060522ce | 70 | |
nicolas_guerrero | 1:629f060522ce | 71 | } |
nicolas_guerrero | 1:629f060522ce | 72 | |
nicolas_guerrero | 1:629f060522ce | 73 | } |