Revision 0:bd05fd602a6e, committed 2016-06-17

Comitter:

garphil

Date:

Fri Jun 17 11:16:07 2016 +0000

Child:

1:9519ac966b79

Commit message:

Class first template

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Fri Jun 17 11:16:07 2016 +0000
@@ -0,0 +1,15 @@
+#include "motor.h"
+
+
+
+Motor::Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3):DigitalOut(_MPh0), DigitalOut(_MPh1), DigitalOut(_MPh2), DigitalOut(_MPh3) {
+     
+    MotorIndex = 0;
+ 
+}
+ 
+void Motor::StopMotor() // --- Stop Motor
+{
+        MPh0 = 0;  MPh1 = 0;  MPh2 = 0;  MPh3 = 0;
+        MotorIndex = 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Fri Jun 17 11:16:07 2016 +0000
@@ -0,0 +1,42 @@
+// -------------------- Motor ---------------------------
+#include "mbed.h"
+
+enum MotorStateList {   // Define Motor States for the State Machine
+    Motor_IDLE = 0,
+    Motor_RUN,
+    Motor_PAUSE,
+    Motor_ZERO,
+    Motor_CALIB
+    } MotorState = Motor_IDLE;
+
+enum MotorCommandList { // Define Motor State Machine Commands
+    k_nop = 0,
+    k_wire,
+    k_pause,
+    k_restart,
+    k_stop,
+    k_zero
+    } MotorCommand;
+    
+enum MotorDirectionList { // Define Motor Clockwise or Anticlockwise
+    d_clock = 0,
+    d_anti
+    } MotorDir;
+    
+class Motor {
+    
+    Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3);
+    
+    DigitalOut *MPh0, *MPh1, *MPh2, *MPh3;
+    
+ 
+    int MotorIndex;    // --- Motor Variable
+
+    
+    Ticker  MotorSystemTick;    // System Callback for Motor
+    timestamp_t MotorStepTime;  // Time in µs for one motor step
+    uint32_t    MotorFullTurn;  // Number of step for a complete turn
+    uint32_t    NumWires;       // Number of Wires
+    uint32_t    NumSteps;       // Number of Steps = NumWire * MotorFullTurn
+
+}
\ No newline at end of file