File content as of revision 5:d92004b211c9:

#include "Step_Motor.h"
#include "mbed.h"
 
stepmotor::stepmotor(PinName in1, PinName in2, PinName in3, PinName in4, PinName in5,PinName in6, PinName in7, PinName in8) : motor_out(in1,in2,in3,in4,in5,in6,in7,in8) { 
 
 
    motor_out=0x0;
    nstep=0;
    nstep2=0;
    motorSpeed=1500;
    add=0;
    
}
 
 
void stepmotor::move() { 
   switch(nstep2)
        { 
            case 0: add = 0x1; break;  // 0001
            case 1: add = 0x3; break;  // 0011
            case 2: add = 0x2; break;  // 0010   
            case 3: add = 0x6; break;  // 0110
            case 4: add = 0x4; break;  // 0100
            case 5: add = 0xC; break;  // 1100
            case 6: add = 0x8; break;  // 1000
            case 7: add = 0x9; break;  // 1001
            
            default: add = 0x0; break; // 0000
        }
        
   switch(nstep)
        { 
            case 0: motor_out = 0x10 + add; break;  // 0001 xxxx
            case 1: motor_out = 0x30 + add; break;  // 0011 xxxx
            case 2: motor_out = 0x20 + add; break;  // 0010 xxxx  
            case 3: motor_out = 0x60 + add; break;  // 0110 xxxx
            case 4: motor_out = 0x40 + add; break;  // 0100 xxxx
            case 5: motor_out = 0xC0 + add; break;  // 1100 xxxx
            case 6: motor_out = 0x80 + add; break;  // 1000 xxxx
            case 7: motor_out = 0x90 + add; break;  // 1001 xxxx
            
            default: motor_out = 0x00 + add; break; // 0000 xxxx
        }
        
        wait_us(motorSpeed);
        
}
 
void stepmotor::set_speed(int speed){
    motorSpeed=speed; //set motor speed us 
}
uint32_t stepmotor::get_speed(){
    return motorSpeed; // 
}
 
void stepmotor::step(uint32_t num_steps, uint8_t cw) {
//cw 0 si va a girar a la izquierda, 1 si gira a la derecha, 2 si sigue derecho, 3 retrocede      
    
    uint32_t count=num_steps ;
    while(count){
        if (cw==1)   {nstep++; nstep2--;}    
        if (cw==0)   {nstep--; nstep2++;}
        if (cw==2)   {nstep++;  nstep2++;}
        if (cw==3)   {nstep--;  nstep2--;}
        if (nstep>7) nstep=0;
        if (nstep<0) nstep=7;
        if (nstep2>7) nstep2=0;
        if (nstep2<0) nstep2=7;
        move();
        count--;
 
    }
  
}