Revision 5:d92004b211c9, committed 2018-06-02

Comitter:

pablolopez89

Date:

Sat Jun 02 16:34:11 2018 +0000

Parent:

4:8581e6927b36

Commit message:

WIKI Robot Piccolo

Changed in this revision

diff -r 8581e6927b36 -r d92004b211c9 Step_Motor.cpp
--- a/Step_Motor.cpp	Wed Apr 25 13:33:03 2018 +0000
+++ b/Step_Motor.cpp	Sat Jun 02 16:34:11 2018 +0000
@@ -1,50 +1,47 @@
 #include "Step_Motor.h"
 #include "mbed.h"
-#include "General.h"
  
- 
- Serial pc1(USBTX,USBRX);
- 
-    
-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) { 
+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;
-    motorSpeed=1200;
-    nstep2=7;
+    nstep2=0;
+    motorSpeed=1500;
+    add=0;
+    
 }
  
  
 void stepmotor::move() { 
-   
    switch(nstep2)
         { 
-            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 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: ms2 = 0x0; break; // 0000
+            default: add = 0x0; break; // 0000
         }
-   
+        
    switch(nstep)
         { 
-            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 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 + ms2; break; // 0000
+            default: motor_out = 0x00 + add; break; // 0000 xxxx
         }
+        
         wait_us(motorSpeed);
         
 }
@@ -57,29 +54,21 @@
 }
  
 void stepmotor::step(uint32_t num_steps, uint8_t cw) {
-// funcion para mover el motor N pasos CW o CCW   
-// num_steps  número de paso que da el motor 
-// cw =True  para dirección en sentido del reloj 
-// cw =False para dirección contraria de las manecillas del reloj         
-    pc1.baud(9600);              //programar los baudios
-    pc1.format(8,SerialBase::None,1); 
+//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==DER)   nstep++; nstep2++;    
-        if (cw==IZQ)  nstep--; nstep2--;
-        if (cw==UP)   nstep++; nstep2--;    
-        if (cw==DOWN)  nstep--; nstep2++;  
+        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) nstep=0;
-        if (nstep2<0) nstep=7;
+        if (nstep2>7) nstep2=0;
+        if (nstep2<0) nstep2=7;
         move();
         count--;
  
     }
-    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

diff -r 8581e6927b36 -r d92004b211c9 Step_Motor.h
--- a/Step_Motor.h	Wed Apr 25 13:33:03 2018 +0000
+++ b/Step_Motor.h	Sat Jun 02 16:34:11 2018 +0000
@@ -3,22 +3,18 @@
  
 #include "mbed.h"
  
-#define NUME_PASOS 45629
-#define RADIO_R 50
- 
 class stepmotor {
 public:
  
-    stepmotor(PinName in1, PinName in2, PinName in3, PinName in4,PinName in5, PinName in6, PinName in7, PinName in8); 
+    stepmotor(PinName in1, PinName in2, PinName in3, PinName in4, PinName in5,PinName in6, PinName in7, PinName in8); 
     void step(uint32_t num_steps,uint8_t cw);
     void set_speed(int speed);
     uint32_t get_speed();
 private:
     BusOut motor_out;
     uint32_t motorSpeed; 
-    int8_t nstep;
-    int8_t nstep2;
-    int8_t ms2;
+    int32_t nstep,nstep2;
+    uint8_t add;
     void move();
 };