Paulo Gonçalves
/
objeto_motor_de_passo
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Revision 0:9780ea3b44b9, committed 2015-04-28
- Comitter:
- pjgoncalvesf
- Date:
- Tue Apr 28 17:10:06 2015 +0000
- Commit message:
- biblioteca de motor de passo v0.1
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Apr 28 17:10:06 2015 +0000
@@ -0,0 +1,13 @@
+#include "mbed.h"
+#include "motor_de_passo.h"
+
+int main() {
+ Motor_de_passo M1 (PTC9,PTA5,PTC8,PTA4);
+ M1.vel = 0.5;
+ M1.n_passos=400;
+
+ M1.girar(-360);
+
+ while(1){
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Apr 28 17:10:06 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_de_passo/motor_de_passo.cpp Tue Apr 28 17:10:06 2015 +0000
@@ -0,0 +1,58 @@
+#include "mbed.h"
+#include "motor_de_passo.h"
+
+const int Motor_de_passo::motor[] = {0x8,0xC,0x4,0x6,0x2,0x3,0x1,0x9};
+Motor_de_passo::Motor_de_passo(PinName pino1, PinName pino2, PinName pino3, PinName pino4)
+ : _passos(pino1,pino2,pino3,pino4)
+ {
+ // motor[]
+ }
+
+void Motor_de_passo::motor1(){
+ if (aux == 0){
+ _passos = 0x0f&motor[1];
+ aux = positivo?1:7;
+ } else if (aux == 1){
+ _passos = 0x0f&motor[2];
+ aux = positivo?2:0;
+ } else if (aux == 2){
+ _passos = 0x0f&motor[3];
+ aux = positivo?3:1;
+ } else if (aux == 3){
+ _passos = 0x0f&motor[4];
+ aux = positivo?4:2;
+ }else if (aux == 4){
+ _passos = 0x0f&motor[5];
+ aux = positivo?5:3;
+ } else if (aux == 5){
+ _passos = 0x0f&motor[6];
+ aux = positivo?6:4;
+ } else if (aux == 6){
+ _passos = 0x0f&motor[7];
+ aux = positivo?7:5;
+ } else if (aux == 7){
+ _passos = 0x0f&motor[0];
+ aux = positivo?0:6;
+
+ }
+ }
+
+ void Motor_de_passo::flip() {
+ motor1();
+ i=i+1;
+ if (j==i){
+ flipper.detach();
+ }
+}
+
+void Motor_de_passo::girar (float graus)
+ {
+ aux=0;
+ positivo = graus<0? false: true;
+ i=0;
+ float tempo = (1.0f/((n_passos)*(vel)));
+ flipper.attach(this,&Motor_de_passo::flip, tempo);
+
+ j=abs(graus)/(360.0f/n_passos);
+
+ }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_de_passo/motor_de_passo.h Tue Apr 28 17:10:06 2015 +0000
@@ -0,0 +1,24 @@
+#ifndef motor_de_passo // funcionou sem
+#define motor_de_passo // funcionou sem
+#include "mbed.h"
+
+class Motor_de_passo{
+ public:
+ Motor_de_passo(PinName pino1, PinName pino2, PinName pino3, PinName pino4);
+ float vel;
+ int n_passos;
+ void girar(float graus);
+ void motor1();
+ void flip();
+
+ private:
+ BusOut _passos;
+ int j;
+ Ticker flipper;
+ static const int motor[8];
+ int aux;
+ int i;
+ int positivo;
+
+ };
+#endif // funcionou sem
\ No newline at end of file