Diff: motor.cpp

Revision:

9:5983c10d5f8e

Parent:

8:4dd59b6f4e92

Child:

10:1df5a7a265e8

--- a/motor.cpp	Mon Jul 17 11:45:44 2017 +0000
+++ b/motor.cpp	Mon Jul 17 14:02:22 2017 +0000
@@ -1,8 +1,7 @@
 #include "motor.h"
 
+void Motor::initialization(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t tickTime) {
 
-Motor::Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t tickTime) {
- 
     MPh0 = new DigitalOut(_MPh0);
     MPh1 = new DigitalOut(_MPh1);
     MPh2 = new DigitalOut(_MPh2);
@@ -16,11 +15,52 @@
     state = Motor_IDLE;    // Default state is IDLE
     command = MOTOR_nop;       // Default command is NOP
     MotorStepTime = tickTime;      // value in micro second for one step
-    MotorFullTurn = 2140;       // Initial Calibration
-    NumSteps = 2000;               // Default
+    MotorFullTurn = MOTOR_TICKS_FOR_A_TURN;       // Initial Calibration
+    NumSteps = MotorFullTurn;               // Default 1 turn
+    motorCallback = NULL;
+    itOnStop = true;
+}
+
+Motor::Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3) {
+    initialization( _MPh0,  _MPh1,  _MPh2,  _MPh3, MOTOR_STEP_TIME_DEFAULT);
+ 
+}
+
+
+Motor::Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t tickTime) {
+ 
+    initialization( _MPh0,  _MPh1,  _MPh2,  _MPh3, tickTime);
  
 }
 
+
+void Motor::removeMotorCallback() {
+    motorCallback = NULL;
+}
+
+void Motor::setMotorCallback(void (*mIT)()) {
+    motorCallback = mIT;
+    itOnStop = true;
+}
+void Motor::setMotorCallback(void (*mIT)(), bool onStop) {
+    motorCallback = mIT;
+}
+
+void Motor::setCalibration(uint32_t nbTicksforFullTurn) {
+    MotorFullTurn = nbTicksforFullTurn;
+}
+
+void Motor::setDelayBtwTicks(uint32_t tickTime) {
+    MotorStepTime = tickTime;
+    if(MotorStepTime < MOTOR_STEP_TIME_MIN)  MotorStepTime = MOTOR_STEP_TIME_MIN;
+ 
+}
+
+void Motor::setSpeed(float sForOneTurn) {
+    MotorStepTime = 1000*sForOneTurn / MotorFullTurn;
+    if(MotorStepTime < MOTOR_STEP_TIME_MIN)  MotorStepTime = MOTOR_STEP_TIME_MIN;
+}
+
 void Motor::Start() {
         SetCommand(MOTOR_start);   
 };
@@ -140,6 +180,9 @@
             else if ((command == MOTOR_stop)||(NumSteps==0)) {
                 StopMotor();
                 state = Motor_IDLE;
+                    if(command != MOTOR_stop || itOnStop == true) {
+                        if(motorCallback != NULL) motorCallback();
+                    }
                 }
             command = MOTOR_nop;
             }