Diff: Step_Motor.cpp

Revision:

4:8581e6927b36

Parent:

3:ec3add9f1351

Child:

5:d92004b211c9

--- a/Step_Motor.cpp	Tue Apr 24 15:48:13 2018 +0000
+++ b/Step_Motor.cpp	Wed Apr 25 13:33:03 2018 +0000
@@ -1,5 +1,6 @@
 #include "Step_Motor.h"
 #include "mbed.h"
+#include "General.h"
  
  
  Serial pc1(USBTX,USBRX);
@@ -10,7 +11,7 @@
  
     motor_out=0x0;
     nstep=0;
-    motorSpeed=1100;
+    motorSpeed=1200;
     nstep2=7;
 }
  
@@ -19,28 +20,28 @@
    
    switch(nstep2)
         { 
-            case 0: ms2 = 0x1; break;  // 0001
+            case 0: ms2 = 0x1;  break;  // 0001 XXXX
             case 1: ms2 = 0x3; break;  // 0011
-            case 2: ms2 = 0x2; break;  // 0010   
-            case 3: ms2 = 0x6; break;  // 0110
-            case 4: ms2 = 0x4; break;  // 0100
-            case 5: ms2 = 0xC; break;  // 1100
-            case 6: ms2 = 0x8; break;  // 1000
-            case 7: ms2 = 0x9; break;  // 1001
+            case 2: ms2 = 0x2;  break;  // 0010   
+            case 3: ms2 = 0x6;  break;  // 0110
+            case 4: ms2 = 0x4;  break;  // 0100
+            case 5: ms2 = 0xC;  break;  // 1100
+            case 6: ms2 = 0x8;  break;  // 1000
+            case 7: ms2 = 0x9;  break;  // 1001
             
             default: ms2 = 0x0; break; // 0000
         }
    
    switch(nstep)
         { 
-            case 0: motor_out = 0x10 + ms2; break;  // 0001 XXXX
+            case 0: motor_out = 0x10 + ms2;  break;  // 0001 XXXX
             case 1: motor_out = 0x30 + ms2; break;  // 0011
-            case 2: motor_out = 0x20 + ms2; break;  // 0010   
-            case 3: motor_out = 0x60 + ms2; break;  // 0110
-            case 4: motor_out = 0x40 + ms2; break;  // 0100
-            case 5: motor_out = 0xC0 + ms2; break;  // 1100
-            case 6: motor_out = 0x80 + ms2; break;  // 1000
-            case 7: motor_out = 0x90 + ms2; break;  // 1001
+            case 2: motor_out = 0x20 + ms2;  break;  // 0010   
+            case 3: motor_out = 0x60 + ms2;  break;  // 0110
+            case 4: motor_out = 0x40 + ms2;  break;  // 0100
+            case 5: motor_out = 0xC0 + ms2;  break;  // 1100
+            case 6: motor_out = 0x80 + ms2;  break;  // 1000
+            case 7: motor_out = 0x90 + ms2;  break;  // 1001
             
             default: motor_out = 0x00 + ms2; break; // 0000
         }
@@ -65,15 +66,20 @@
     
     uint32_t count=num_steps ;
     while(count){
-        if (cw==1)   nstep++;    
-        if (cw==0)  nstep--;  
+        if (cw==DER)   nstep++; nstep2++;    
+        if (cw==IZQ)  nstep--; nstep2--;
+        if (cw==UP)   nstep++; nstep2--;    
+        if (cw==DOWN)  nstep--; nstep2++;  
         if (nstep>7) nstep=0;
         if (nstep<0) nstep=7;
-        nstep2=7-nstep;
+        if (nstep2>7) nstep=0;
+        if (nstep2<0) nstep=7;
         move();
         count--;
  
     }
-    if(cw==1) pc1.printf("Avance \n");
-    else if (cw==0) pc1.printf("Retrocedi \n");
+    if(cw==UP) pc1.printf("Avance \n");
+    else if (cw==DOWN) pc1.printf("Retrocedi \n");
+    else if (cw==IZQ) pc1.printf("Gire Izq \n");
+    else if (cw==DER) pc1.printf("Gire Der \n");
 }
\ No newline at end of file