Diff: motor.cpp

Revision:

4:c009bcd5518c

Parent:

3:01b4c058454d

Child:

6:aec892eb1b49

diff -r 01b4c058454d -r c009bcd5518c motor.cpp
--- a/motor.cpp	Fri Jun 24 14:57:25 2016 +0000
+++ b/motor.cpp	Tue Aug 23 11:33:46 2016 +0000
@@ -1,7 +1,7 @@
 #include "motor.h"
 
 
-Motor::Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3) {
+Motor::Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t tickTime) {
  
     MPh0 = new DigitalOut(_MPh0);
     MPh1 = new DigitalOut(_MPh1);
@@ -12,15 +12,37 @@
     //
     // Connect Interrupt routine in which the motor and all the state machine is performed
     //
-    direction = DIRECTION_CLOCKWISE;         // Default direction is clockwise
+    direction = CLOCKWISE;         // Default direction is clockwise
     state = Motor_IDLE;    // Default state is IDLE
     command = MOTOR_nop;       // Default command is NOP
-    MotorStepTime = 30000;      // value in micro second for one step
+    MotorStepTime = tickTime;      // value in micro second for one step
     MotorFullTurn = 2140;       // Initial Calibration
     NumSteps = 2000;               // Default
  
 }
 
+void Motor::Start() {
+        SetCommand(MOTOR_start);   
+};
+
+void Motor::Stop() {
+        SetCommand(MOTOR_stop);
+}
+
+
+void Motor::Pause() {
+        SetCommand(MOTOR_pause);
+}
+
+
+void Motor::Restart() {
+        SetCommand(MOTOR_restart);
+}
+
+void Motor::SetZero() {
+        SetCommand(MOTOR_zero);
+}
+
 void Motor::RunSteps(MotorDir dir, uint32_t steps) {
     SetDirection( dir);
     NumSteps = steps;
@@ -29,7 +51,7 @@
 
 void Motor::RunDegrees(MotorDir dir, float degree) {
     SetDirection( dir);
-    NumSteps = (degree * MotorFullTurn / 360.0);
+    NumSteps = (int)(degree * MotorFullTurn / 360.0);
     SetCommand(MOTOR_start);
 }
 void Motor::SetDirection(MotorDir dir) {
@@ -46,6 +68,7 @@
 {
         *MPh0 = 0;  *MPh1 = 0;  *MPh2 = 0;  *MPh3 = 0;
         MotorIndex = 0;
+   
 }
 
 
@@ -57,28 +80,28 @@
 
 void    Motor::RightMotor()    // Move the Motor one step Right
 {
-    const   int RPh0[4] = {0, 1, 0, 0};
-    const   int RPh1[4] = {0, 0, 1, 0};
-    const   int RPh2[4] = {0, 0, 0, 1};
-    const   int RPh3[4] = {1, 0, 0, 0};
+   static const   int RPh0[8] = {1, 1, 0, 0, 0, 0, 0, 1};
+    static const   int RPh1[8] = {0, 1, 1, 1, 0, 0, 0, 0};
+    static const   int RPh2[8] = {0, 0, 0, 1, 1, 1, 0, 0};
+    static const   int RPh3[8] = {0, 0, 0, 0, 0, 1, 1, 1};
     *MPh0 = RPh0[MotorIndex];  *MPh1 = RPh1[MotorIndex];  *MPh2 = RPh2[MotorIndex];  *MPh3 = RPh3[MotorIndex];
-    if (MotorIndex<3) MotorIndex++;
+    if (MotorIndex<7) MotorIndex++;
     else    MotorIndex = 0;
 }
 void    Motor::LeftMotor()    // Move the Motor one step Right
 {
-    const   int LPh0[4] = {0, 0, 1, 0};
-    const   int LPh1[4] = {0, 1, 0, 0};
-    const   int LPh2[4] = {1, 0, 0, 0};
-    const   int LPh3[4] = {0, 0, 0, 1};
-    *MPh0 = LPh0[MotorIndex];  *MPh1 = LPh1[MotorIndex];  *MPh2 = LPh2[MotorIndex];  *MPh3 = LPh3[MotorIndex];
-    if (MotorIndex<3) MotorIndex++;
+    static const   int LPh0[8] = { 1, 0, 0, 0, 0, 0, 1, 1};
+    static const   int LPh1[8] = { 0, 0, 0, 0, 1, 1, 1, 0};
+    static const   int LPh2[8] = { 0, 0, 1, 1, 1, 0, 0, 0};
+    static const   int LPh3[8] = { 1, 1, 1, 0, 0, 0, 0, 0};
+   *MPh0 = LPh0[MotorIndex];  *MPh1 = LPh1[MotorIndex];  *MPh2 = LPh2[MotorIndex];  *MPh3 = LPh3[MotorIndex];
+    if (MotorIndex<7) MotorIndex++;
     else    MotorIndex = 0;
 }
 
 void    Motor::RunMotor()     // Move the Motor in the user direction
 {
-        if (direction==DIRECTION_CLOCKWISE) RightMotor();
+        if (direction==CLOCKWISE) RightMotor();
         else LeftMotor();
 }