Thomas Morris / Mbed 2 deprecated Stacy

Testing 1 blue pill

Dependencies:   mbed mbed-rtos TextLCD

Stepper_Motor/STEPPER_MOTOR.cpp@23:07a368f2cdb1, 2019-02-16 (annotated)

Committer:
thomasmorris
Date:
Sat Feb 16 15:19:21 2019 +0000
Revision:
23:07a368f2cdb1
Parent:
19:384642f39496
Child:
25:9751619fa030
Mutexed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
thomasmorris 12:d9c133b360b0 1 #include "mbed.h" //Include the mbed libraries
thomasmorris 12:d9c133b360b0 2 #include "STEPPER_MOTOR.hpp" //Include the header file, this acts like a series of forward declarations
thomasmorris 12:d9c133b360b0 3
thomasmorris 12:d9c133b360b0 4 //Constructor
thomasmorris 12:d9c133b360b0 5 STEPPER_MOTOR::STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4) : pin1(N1),pin2(N2),pin3(N3),pin4(N4)
thomasmorris 12:d9c133b360b0 6 {
thomasmorris 12:d9c133b360b0 7 _dir = true;
thomasmorris 12:d9c133b360b0 8 _step = 0;
thomasmorris 12:d9c133b360b0 9 }
thomasmorris 12:d9c133b360b0 10
thomasmorris 12:d9c133b360b0 11 STEPPER_MOTOR::~STEPPER_MOTOR(){} //Destructor
thomasmorris 23:07a368f2cdb1 12
thomasmorris 23:07a368f2cdb1 13 void STEPPER_MOTOR::Pause_Code()
thomasmorris 23:07a368f2cdb1 14 {
thomasmorris 23:07a368f2cdb1 15 _Pause_Code = 1;
thomasmorris 23:07a368f2cdb1 16 }
thomasmorris 23:07a368f2cdb1 17 void STEPPER_MOTOR::Unpause_Code()
thomasmorris 23:07a368f2cdb1 18 {
thomasmorris 23:07a368f2cdb1 19 _Pause_Code = 0;
thomasmorris 23:07a368f2cdb1 20 }
thomasmorris 18:3523660f3930 21 float STEPPER_MOTOR::Get_Turns()
thomasmorris 18:3523660f3930 22 {
thomasmorris 18:3523660f3930 23 return (_Steps_Done /50);
thomasmorris 18:3523660f3930 24 }
thomasmorris 12:d9c133b360b0 25 void STEPPER_MOTOR::Rotate_Steps(int Steps)
thomasmorris 23:07a368f2cdb1 26 {
thomasmorris 23:07a368f2cdb1 27 Steps = Steps*50;
thomasmorris 23:07a368f2cdb1 28 //int correctionfactor;
thomasmorris 23:07a368f2cdb1 29 //int timeofturn=correctinfactor*speed;
thomasmorris 23:07a368f2cdb1 30 _Steps_Done = 0;
thomasmorris 23:07a368f2cdb1 31 //int mystep=0;
thomasmorris 23:07a368f2cdb1 32 //printf("START!!! step value is=%d\n\r",mystep);
thomasmorris 23:07a368f2cdb1 33 for(int x =0 ; x <= Steps; x++)
thomasmorris 23:07a368f2cdb1 34 {
thomasmorris 23:07a368f2cdb1 35 if(_Pause_Code == 0)
thomasmorris 23:07a368f2cdb1 36 {
thomasmorris 17:68b3fdabe4c5 37 this->pin1 = 0;
thomasmorris 23:07a368f2cdb1 38 this->pin2 = 1;
thomasmorris 23:07a368f2cdb1 39 this->pin3 = 0;
thomasmorris 23:07a368f2cdb1 40 this->pin4 = 1;
thomasmorris 23:07a368f2cdb1 41 Thread::wait(1);
thomasmorris 23:07a368f2cdb1 42 this->pin1 = 0;
thomasmorris 23:07a368f2cdb1 43 this->pin2 = 1;
thomasmorris 23:07a368f2cdb1 44 this->pin3 = 1;
thomasmorris 23:07a368f2cdb1 45 this->pin4 = 0;
thomasmorris 23:07a368f2cdb1 46 Thread::wait(1);
thomasmorris 23:07a368f2cdb1 47 this->pin1 = 1;
thomasmorris 23:07a368f2cdb1 48 this->pin2 = 0;
thomasmorris 23:07a368f2cdb1 49 this->pin3 = 1;
thomasmorris 23:07a368f2cdb1 50 this->pin4 = 0;
thomasmorris 23:07a368f2cdb1 51 Thread::wait(1);
thomasmorris 23:07a368f2cdb1 52 this->pin1 = 1;
thomasmorris 17:68b3fdabe4c5 53 this->pin2 = 0;
thomasmorris 17:68b3fdabe4c5 54 this->pin3 = 0;
thomasmorris 23:07a368f2cdb1 55 this->pin4 = 1;
thomasmorris 23:07a368f2cdb1 56 Thread::wait(1);
thomasmorris 23:07a368f2cdb1 57 _Steps_Done = _Steps_Done +1;
thomasmorris 23:07a368f2cdb1 58 }
thomasmorris 23:07a368f2cdb1 59 else if (_Pause_Code == 1)
thomasmorris 23:07a368f2cdb1 60 {
thomasmorris 23:07a368f2cdb1 61 printf("Stepper motor code paused\n");
thomasmorris 23:07a368f2cdb1 62 while(_Pause_Code == 1)
thomasmorris 23:07a368f2cdb1 63 {
thomasmorris 23:07a368f2cdb1 64 Thread::wait(1);
thomasmorris 23:07a368f2cdb1 65 }
thomasmorris 23:07a368f2cdb1 66 }
thomasmorris 23:07a368f2cdb1 67 }//End of for loop
thomasmorris 23:07a368f2cdb1 68 this->pin1 = 0;
thomasmorris 23:07a368f2cdb1 69 this->pin2 = 0;
thomasmorris 23:07a368f2cdb1 70 this->pin3 = 0;
thomasmorris 23:07a368f2cdb1 71 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 72 }
thomasmorris 12:d9c133b360b0 73 void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
thomasmorris 12:d9c133b360b0 74 {
thomasmorris 12:d9c133b360b0 75 switch(_step){
thomasmorris 12:d9c133b360b0 76 case 0:
thomasmorris 12:d9c133b360b0 77 pin1 = 0;
thomasmorris 12:d9c133b360b0 78 pin2 = 0;
thomasmorris 12:d9c133b360b0 79 pin3 = 0;
thomasmorris 12:d9c133b360b0 80 pin4 = 1;
thomasmorris 12:d9c133b360b0 81 break;
thomasmorris 12:d9c133b360b0 82 case 1:
thomasmorris 12:d9c133b360b0 83 pin1 = 0;
thomasmorris 12:d9c133b360b0 84 pin2 = 0;
thomasmorris 12:d9c133b360b0 85 pin3 = 1;
thomasmorris 12:d9c133b360b0 86 pin4 = 1;
thomasmorris 12:d9c133b360b0 87 break;
thomasmorris 12:d9c133b360b0 88 case 2:
thomasmorris 12:d9c133b360b0 89 pin1 = 0;
thomasmorris 12:d9c133b360b0 90 pin2 = 0;
thomasmorris 12:d9c133b360b0 91 pin3 = 1;
thomasmorris 12:d9c133b360b0 92 pin4 = 0;
thomasmorris 12:d9c133b360b0 93 break;
thomasmorris 12:d9c133b360b0 94 case 3:
thomasmorris 12:d9c133b360b0 95 pin1 = 0;
thomasmorris 12:d9c133b360b0 96 pin2 = 1;
thomasmorris 12:d9c133b360b0 97 pin3 = 1;
thomasmorris 12:d9c133b360b0 98 pin4 = 0;
thomasmorris 12:d9c133b360b0 99 break;
thomasmorris 12:d9c133b360b0 100 case 4:
thomasmorris 12:d9c133b360b0 101 pin1 = 0;
thomasmorris 12:d9c133b360b0 102 pin2 = 1;
thomasmorris 12:d9c133b360b0 103 pin3 = 0;
thomasmorris 12:d9c133b360b0 104 pin4 = 0;
thomasmorris 12:d9c133b360b0 105 break;
thomasmorris 12:d9c133b360b0 106 case 5:
thomasmorris 12:d9c133b360b0 107 pin1 = 1;
thomasmorris 12:d9c133b360b0 108 pin2 = 1;
thomasmorris 12:d9c133b360b0 109 pin3 = 0;
thomasmorris 12:d9c133b360b0 110 pin4 = 0;
thomasmorris 12:d9c133b360b0 111 break;
thomasmorris 12:d9c133b360b0 112 case 6:
thomasmorris 12:d9c133b360b0 113 pin1 = 1;
thomasmorris 12:d9c133b360b0 114 pin2 = 0;
thomasmorris 12:d9c133b360b0 115 pin3 = 0;
thomasmorris 12:d9c133b360b0 116 pin4 = 0;
thomasmorris 12:d9c133b360b0 117 break;
thomasmorris 12:d9c133b360b0 118 case 7:
thomasmorris 12:d9c133b360b0 119 pin1 = 1;
thomasmorris 12:d9c133b360b0 120 pin2 = 0;
thomasmorris 12:d9c133b360b0 121 pin3 = 0;
thomasmorris 12:d9c133b360b0 122 pin4 = 1;
thomasmorris 12:d9c133b360b0 123 break;
thomasmorris 12:d9c133b360b0 124 default:
thomasmorris 12:d9c133b360b0 125 pin1 = 0;
thomasmorris 12:d9c133b360b0 126 pin2 = 0;
thomasmorris 12:d9c133b360b0 127 pin3 = 0;
thomasmorris 12:d9c133b360b0 128 pin4 = 0;
thomasmorris 12:d9c133b360b0 129 break;
thomasmorris 12:d9c133b360b0 130 }
thomasmorris 12:d9c133b360b0 131 if(_dir){
thomasmorris 12:d9c133b360b0 132 _step++;
thomasmorris 12:d9c133b360b0 133 }else{
thomasmorris 12:d9c133b360b0 134 _step--;
thomasmorris 12:d9c133b360b0 135 }
thomasmorris 12:d9c133b360b0 136 if(_step>7){
thomasmorris 12:d9c133b360b0 137 _step=0;
thomasmorris 12:d9c133b360b0 138 }
thomasmorris 12:d9c133b360b0 139 if(_step<0){
thomasmorris 12:d9c133b360b0 140 _step=7;
thomasmorris 12:d9c133b360b0 141 }
thomasmorris 12:d9c133b360b0 142 }
thomasmorris 12:d9c133b360b0 143
thomasmorris 12:d9c133b360b0 144 void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
thomasmorris 12:d9c133b360b0 145 {
thomasmorris 12:d9c133b360b0 146
thomasmorris 12:d9c133b360b0 147 //Rotate
thomasmorris 12:d9c133b360b0 148 switch(_step){
thomasmorris 12:d9c133b360b0 149 case 0:
thomasmorris 12:d9c133b360b0 150 pin1 = 1;
thomasmorris 12:d9c133b360b0 151 pin2 = 0;
thomasmorris 12:d9c133b360b0 152 pin3 = 0;
thomasmorris 12:d9c133b360b0 153 pin4 = 1;
thomasmorris 12:d9c133b360b0 154 break;
thomasmorris 12:d9c133b360b0 155 case 1:
thomasmorris 12:d9c133b360b0 156 pin1 = 1;
thomasmorris 12:d9c133b360b0 157 pin2 = 0;
thomasmorris 12:d9c133b360b0 158 pin3 = 0;
thomasmorris 12:d9c133b360b0 159 pin4 = 0;
thomasmorris 12:d9c133b360b0 160 break;
thomasmorris 12:d9c133b360b0 161 case 2:
thomasmorris 12:d9c133b360b0 162 pin1 = 1;
thomasmorris 12:d9c133b360b0 163 pin2 = 1;
thomasmorris 12:d9c133b360b0 164 pin3 = 0;
thomasmorris 12:d9c133b360b0 165 pin4 = 0;
thomasmorris 12:d9c133b360b0 166 break;
thomasmorris 12:d9c133b360b0 167 case 3:
thomasmorris 12:d9c133b360b0 168 pin1 = 0;
thomasmorris 12:d9c133b360b0 169 pin2 = 1;
thomasmorris 12:d9c133b360b0 170 pin3 = 0;
thomasmorris 12:d9c133b360b0 171 pin4 = 0;
thomasmorris 12:d9c133b360b0 172 break;
thomasmorris 12:d9c133b360b0 173 case 4:
thomasmorris 12:d9c133b360b0 174 pin1 = 0;
thomasmorris 12:d9c133b360b0 175 pin2 = 1;
thomasmorris 12:d9c133b360b0 176 pin3 = 1;
thomasmorris 12:d9c133b360b0 177 pin4 = 0;
thomasmorris 12:d9c133b360b0 178 break;
thomasmorris 12:d9c133b360b0 179 case 5:
thomasmorris 12:d9c133b360b0 180 pin1 = 0;
thomasmorris 12:d9c133b360b0 181 pin2 = 0;
thomasmorris 12:d9c133b360b0 182 pin3 = 1;
thomasmorris 12:d9c133b360b0 183 pin4 = 0;
thomasmorris 12:d9c133b360b0 184 break;
thomasmorris 12:d9c133b360b0 185 case 6:
thomasmorris 12:d9c133b360b0 186 pin1 = 0;
thomasmorris 12:d9c133b360b0 187 pin2 = 0;
thomasmorris 12:d9c133b360b0 188 pin3 = 1;
thomasmorris 12:d9c133b360b0 189 pin4 = 1;
thomasmorris 12:d9c133b360b0 190 break;
thomasmorris 12:d9c133b360b0 191 case 7:
thomasmorris 12:d9c133b360b0 192 pin1 = 0;
thomasmorris 12:d9c133b360b0 193 pin2 = 0;
thomasmorris 12:d9c133b360b0 194 pin3 = 0;
thomasmorris 12:d9c133b360b0 195 pin4 = 1;
thomasmorris 12:d9c133b360b0 196 break;
thomasmorris 12:d9c133b360b0 197 default:
thomasmorris 12:d9c133b360b0 198 pin1 = 0;
thomasmorris 12:d9c133b360b0 199 pin2 = 0;
thomasmorris 12:d9c133b360b0 200 pin3 = 0;
thomasmorris 12:d9c133b360b0 201 pin4 = 0;
thomasmorris 12:d9c133b360b0 202 break;
thomasmorris 12:d9c133b360b0 203 }
thomasmorris 12:d9c133b360b0 204 if(_dir){
thomasmorris 12:d9c133b360b0 205 _step++;
thomasmorris 12:d9c133b360b0 206 }else{
thomasmorris 12:d9c133b360b0 207 _step--;
thomasmorris 12:d9c133b360b0 208 }
thomasmorris 12:d9c133b360b0 209 if(_step>7){
thomasmorris 12:d9c133b360b0 210 _step=0;
thomasmorris 12:d9c133b360b0 211 }
thomasmorris 12:d9c133b360b0 212 if(_step<0){
thomasmorris 12:d9c133b360b0 213 _step=7;
thomasmorris 12:d9c133b360b0 214 }
thomasmorris 12:d9c133b360b0 215 //wait_ms(1);
thomasmorris 12:d9c133b360b0 216 }
thomasmorris 12:d9c133b360b0 217