Revision 9:5983c10d5f8e, committed 2017-07-17

Comitter:

garphil

Date:

Mon Jul 17 14:02:22 2017 +0000

Parent:

8:4dd59b6f4e92

Child:

10:1df5a7a265e8

Commit message:

Added Callback + interface to set calibration or speed (by ticks or speed = seconds for 360?)

Changed in this revision

--- 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;
             }

--- a/motor.h	Mon Jul 17 11:45:44 2017 +0000
+++ b/motor.h	Mon Jul 17 14:02:22 2017 +0000
@@ -5,6 +5,10 @@
 
 #include "mbed.h"
 
+#define MOTOR_STEP_TIME_MIN 1
+#define MOTOR_STEP_TIME_DEFAULT 5000
+#define MOTOR_TICKS_FOR_A_TURN 4096
+
 typedef enum MotorStateList {   // Define Motor States for the State Machine
     Motor_IDLE = 0,
     Motor_RUN,
@@ -38,12 +42,21 @@
  
     
     Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t TickTime);
+    Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3);
     void RunSteps(MotorDir direction, uint32_t steps);
     void RunDegrees(MotorDir direction, float steps);
-   void RunInfinite(MotorDir direction);
+    void RunInfinite(MotorDir direction);
     void SetDirection(MotorDir dir);
     void TestMotor();
     void RunMotor();
+    void setMotorCallback(void (*mIT)());
+    void setMotorCallback(void (*mIT)(), bool onStop);
+    void removeMotorCallback();
+
+    
+    void setCalibration(uint32_t nbTicksforFullTurn);
+    void setDelayBtwTicks(uint32_t tickTime); // in ms
+    void setSpeed(float sForOneTurn) ;// nb of s to get rotation of 360° (if 20s, the motor will do 360° in 20 s). 
     
     void Start();
     void Stop();
@@ -54,6 +67,8 @@
     MotorStateList getState();
    
     private:
+    void initialization(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t TickTime);
+ 
     void StopMotor();
     void StartMotor();
     void SetCommand(MotorCommand cmd);
@@ -71,7 +86,8 @@
     uint32_t    MotorFullTurn;  // Number of step for a complete turn
  //   uint32_t    NumWires;       // Number of Wires
     int32_t    NumSteps;       // Number of Steps = NumWire * MotorFullTurn
-
+    void (*motorCallback)();
+    bool itOnStop;
 };
 
 #endif
\ No newline at end of file