Pablo Lopez / Picoolo

picolo

Fork of Step_Motor by Steven Ortiz

Step_Motor.cpp@0:ea300190c1f5, 2018-03-27 (annotated)

Committer:
Stevenor1997
Date:
Tue Mar 27 23:41:42 2018 +0000
Revision:
0:ea300190c1f5
Child:
1:4c622abe2483
Librer?a para el control de un motor paso a paso.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stevenor1997 0:ea300190c1f5 1 #include "Step_Motor.h"
Stevenor1997 0:ea300190c1f5 2 #include "mbed.h"
Stevenor1997 0:ea300190c1f5 3
Stevenor1997 0:ea300190c1f5 4 stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4) : motor_out(in1,in2,in3,in4) {
Stevenor1997 0:ea300190c1f5 5
Stevenor1997 0:ea300190c1f5 6
Stevenor1997 0:ea300190c1f5 7 motor_out=0x0;
Stevenor1997 0:ea300190c1f5 8 nstep=0;
Stevenor1997 0:ea300190c1f5 9 motorSpeed=1100;
Stevenor1997 0:ea300190c1f5 10
Stevenor1997 0:ea300190c1f5 11 }
Stevenor1997 0:ea300190c1f5 12
Stevenor1997 0:ea300190c1f5 13
Stevenor1997 0:ea300190c1f5 14 void stepmotor::move() {
Stevenor1997 0:ea300190c1f5 15
Stevenor1997 0:ea300190c1f5 16 switch(nstep)
Stevenor1997 0:ea300190c1f5 17 {
Stevenor1997 0:ea300190c1f5 18 case 0: motor_out = 0x1; break; // 0001
Stevenor1997 0:ea300190c1f5 19 case 1: motor_out = 0x3; break; // 0011
Stevenor1997 0:ea300190c1f5 20 case 2: motor_out = 0x2; break; // 0010
Stevenor1997 0:ea300190c1f5 21 case 3: motor_out = 0x6; break; // 0110
Stevenor1997 0:ea300190c1f5 22 case 4: motor_out = 0x4; break; // 0100
Stevenor1997 0:ea300190c1f5 23 case 5: motor_out = 0xC; break; // 1100
Stevenor1997 0:ea300190c1f5 24 case 6: motor_out = 0x8; break; // 1000
Stevenor1997 0:ea300190c1f5 25 case 7: motor_out = 0x9; break; // 1001
Stevenor1997 0:ea300190c1f5 26
Stevenor1997 0:ea300190c1f5 27 default: motor_out = 0x0; break; // 0000
Stevenor1997 0:ea300190c1f5 28 }
Stevenor1997 0:ea300190c1f5 29 wait_us(motorSpeed);
Stevenor1997 0:ea300190c1f5 30
Stevenor1997 0:ea300190c1f5 31 }
Stevenor1997 0:ea300190c1f5 32
Stevenor1997 0:ea300190c1f5 33 void stepmotor::set_speed(int speed){
Stevenor1997 0:ea300190c1f5 34 motorSpeed=speed; //set motor speed us
Stevenor1997 0:ea300190c1f5 35 }
Stevenor1997 0:ea300190c1f5 36 uint32_t stepmotor::get_speed(){
Stevenor1997 0:ea300190c1f5 37 return motorSpeed; //
Stevenor1997 0:ea300190c1f5 38 }
Stevenor1997 0:ea300190c1f5 39
Stevenor1997 0:ea300190c1f5 40 void stepmotor::step(uint32_t num_steps, uint8_t cw) {
Stevenor1997 0:ea300190c1f5 41 // funcion para mover el motor N pasos CW o CCW
Stevenor1997 0:ea300190c1f5 42 // num_steps número de paso que da el motor
Stevenor1997 0:ea300190c1f5 43 // cw =True para dirección en sentido del reloj
Stevenor1997 0:ea300190c1f5 44 // cw =False para dirección contraria de las manecillas del reloj
Stevenor1997 0:ea300190c1f5 45
Stevenor1997 0:ea300190c1f5 46 uint32_t count=num_steps ;
Stevenor1997 0:ea300190c1f5 47 while(count){
Stevenor1997 0:ea300190c1f5 48 if (cw==1) nstep++;
Stevenor1997 0:ea300190c1f5 49 if (cw==0) nstep--;
Stevenor1997 0:ea300190c1f5 50 if (nstep>7) nstep=0;
Stevenor1997 0:ea300190c1f5 51 if (nstep<0) nstep=7;
Stevenor1997 0:ea300190c1f5 52 move();
Stevenor1997 0:ea300190c1f5 53 count--;
Stevenor1997 0:ea300190c1f5 54
Stevenor1997 0:ea300190c1f5 55 }
Stevenor1997 0:ea300190c1f5 56
Stevenor1997 0:ea300190c1f5 57 }