Thomas Morris / Mbed 2 deprecated Stacy

Testing 1 blue pill

Dependencies:   mbed mbed-rtos TextLCD

Stepper_Motor/STEPPER_MOTOR.cpp@19:384642f39496, 2019-02-12 (annotated)

Committer:
mwthewsey
Date:
Tue Feb 12 11:28:07 2019 +0000
Revision:
19:384642f39496
Parent:
18:3523660f3930
Child:
23:07a368f2cdb1
Removed stepper motor clunking by adding thread waits and priority.

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 18:3523660f3930 12 float STEPPER_MOTOR::Get_Turns()
thomasmorris 18:3523660f3930 13 {
thomasmorris 18:3523660f3930 14 return (_Steps_Done /50);
thomasmorris 18:3523660f3930 15 }
thomasmorris 12:d9c133b360b0 16 void STEPPER_MOTOR::Rotate_Steps(int Steps)
thomasmorris 12:d9c133b360b0 17 {
thomasmorris 12:d9c133b360b0 18 #define STIME 1000
thomasmorris 12:d9c133b360b0 19
thomasmorris 12:d9c133b360b0 20 Steps = Steps*50;
thomasmorris 12:d9c133b360b0 21 //int correctionfactor;
thomasmorris 12:d9c133b360b0 22 //int timeofturn=correctinfactor*speed;
thomasmorris 18:3523660f3930 23 _Steps_Done = 0;
thomasmorris 18:3523660f3930 24 //int mystep=0;
thomasmorris 18:3523660f3930 25 //printf("START!!! step value is=%d\n\r",mystep);
thomasmorris 12:d9c133b360b0 26 for(int x =0 ; x <= Steps; x++)
thomasmorris 12:d9c133b360b0 27 {
thomasmorris 17:68b3fdabe4c5 28 //printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
thomasmorris 12:d9c133b360b0 29 this->pin1 = 0;
thomasmorris 12:d9c133b360b0 30 this->pin2 = 1;
thomasmorris 12:d9c133b360b0 31 this->pin3 = 0;
thomasmorris 12:d9c133b360b0 32 this->pin4 = 1;
thomasmorris 18:3523660f3930 33 //mystep=1;
mwthewsey 19:384642f39496 34 Thread::wait(1);
mwthewsey 19:384642f39496 35 //wait_us(1000);
thomasmorris 14:63998be3d43c 36 //printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
thomasmorris 12:d9c133b360b0 37 this->pin1 = 0;
thomasmorris 12:d9c133b360b0 38 this->pin2 = 1;
thomasmorris 12:d9c133b360b0 39 this->pin3 = 1;
thomasmorris 12:d9c133b360b0 40 this->pin4 = 0;
thomasmorris 18:3523660f3930 41 //mystep=2;
mwthewsey 19:384642f39496 42 Thread::wait(1);
mwthewsey 19:384642f39496 43 //wait_us(1000);
thomasmorris 14:63998be3d43c 44 //printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
thomasmorris 12:d9c133b360b0 45 this->pin1 = 1;
thomasmorris 12:d9c133b360b0 46 this->pin2 = 0;
thomasmorris 12:d9c133b360b0 47 this->pin3 = 1;
thomasmorris 12:d9c133b360b0 48 this->pin4 = 0;
thomasmorris 18:3523660f3930 49 //mystep=3;
mwthewsey 19:384642f39496 50 Thread::wait(1);
mwthewsey 19:384642f39496 51 //wait_us(1000);
thomasmorris 17:68b3fdabe4c5 52 //printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
thomasmorris 12:d9c133b360b0 53 this->pin1 = 1;
thomasmorris 12:d9c133b360b0 54 this->pin2 = 0;
thomasmorris 12:d9c133b360b0 55 this->pin3 = 0;
thomasmorris 12:d9c133b360b0 56 this->pin4 = 1;
thomasmorris 18:3523660f3930 57 //mystep=4;
mwthewsey 19:384642f39496 58 Thread::wait(1);
mwthewsey 19:384642f39496 59 //wait_us(1000);
thomasmorris 18:3523660f3930 60
thomasmorris 18:3523660f3930 61 _Steps_Done = _Steps_Done +1;
thomasmorris 12:d9c133b360b0 62 /* printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
thomasmorris 12:d9c133b360b0 63 this->pin1 = 0;
thomasmorris 12:d9c133b360b0 64 this->pin2 = 1;
thomasmorris 12:d9c133b360b0 65 this->pin3 = 0;
thomasmorris 12:d9c133b360b0 66 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 67 mystep=5;
thomasmorris 12:d9c133b360b0 68 wait_ms(0.6);
thomasmorris 12:d9c133b360b0 69 printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
thomasmorris 12:d9c133b360b0 70 this->pin1 = 1;
thomasmorris 12:d9c133b360b0 71 this->pin2 = 1;
thomasmorris 12:d9c133b360b0 72 this->pin3 = 0;
thomasmorris 12:d9c133b360b0 73 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 74 mystep=6;
thomasmorris 12:d9c133b360b0 75 wait_ms(0.6);
thomasmorris 12:d9c133b360b0 76 printf("FOR LOOP! step value is=%d %d\n\r",mystep,x);
thomasmorris 12:d9c133b360b0 77 this->pin1 = 1;
thomasmorris 12:d9c133b360b0 78 this->pin2 = 0;
thomasmorris 12:d9c133b360b0 79 this->pin3 = 0;
thomasmorris 12:d9c133b360b0 80 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 81 mystep=7;
thomasmorris 12:d9c133b360b0 82 wait_ms(0.6);
thomasmorris 12:d9c133b360b0 83
thomasmorris 12:d9c133b360b0 84 this->pin1 = 1;
thomasmorris 12:d9c133b360b0 85 this->pin2 = 0;
thomasmorris 12:d9c133b360b0 86 this->pin3 = 0;
thomasmorris 12:d9c133b360b0 87 this->pin4 = 1;
thomasmorris 12:d9c133b360b0 88 mystep=0;
thomasmorris 12:d9c133b360b0 89 wait_ms(0.6);
thomasmorris 12:d9c133b360b0 90
thomasmorris 12:d9c133b360b0 91 this->pin1 = 0;
thomasmorris 12:d9c133b360b0 92 this->pin2 = 0;
thomasmorris 12:d9c133b360b0 93 this->pin3 = 0;
thomasmorris 12:d9c133b360b0 94 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 95 mystep=0;
thomasmorris 12:d9c133b360b0 96 wait_ms(0.6);*/
thomasmorris 12:d9c133b360b0 97 }
thomasmorris 17:68b3fdabe4c5 98 this->pin1 = 0;
thomasmorris 17:68b3fdabe4c5 99 this->pin2 = 0;
thomasmorris 17:68b3fdabe4c5 100 this->pin3 = 0;
thomasmorris 17:68b3fdabe4c5 101 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 102 }
thomasmorris 12:d9c133b360b0 103
thomasmorris 12:d9c133b360b0 104 /*
thomasmorris 12:d9c133b360b0 105 switch(mystep){
thomasmorris 12:d9c133b360b0 106 case 0:{
thomasmorris 12:d9c133b360b0 107
thomasmorris 12:d9c133b360b0 108 break;
thomasmorris 12:d9c133b360b0 109 case 1:{
thomasmorris 12:d9c133b360b0 110
thomasmorris 12:d9c133b360b0 111 break;
thomasmorris 12:d9c133b360b0 112 case 2:
thomasmorris 12:d9c133b360b0 113
thomasmorris 12:d9c133b360b0 114 break;
thomasmorris 12:d9c133b360b0 115 case 3:
thomasmorris 12:d9c133b360b0 116
thomasmorris 12:d9c133b360b0 117 break;
thomasmorris 12:d9c133b360b0 118 case 4:
thomasmorris 12:d9c133b360b0 119
thomasmorris 12:d9c133b360b0 120 break;
thomasmorris 12:d9c133b360b0 121 case 5:
thomasmorris 12:d9c133b360b0 122
thomasmorris 12:d9c133b360b0 123 break;
thomasmorris 12:d9c133b360b0 124 case 6:
thomasmorris 12:d9c133b360b0 125
thomasmorris 12:d9c133b360b0 126 break;
thomasmorris 12:d9c133b360b0 127 case 7:
thomasmorris 12:d9c133b360b0 128
thomasmorris 12:d9c133b360b0 129 break;
thomasmorris 12:d9c133b360b0 130 default:
thomasmorris 12:d9c133b360b0 131
thomasmorris 12:d9c133b360b0 132 break;
thomasmorris 12:d9c133b360b0 133 }
thomasmorris 12:d9c133b360b0 134
thomasmorris 12:d9c133b360b0 135 if(_dir){
thomasmorris 12:d9c133b360b0 136 _step++;
thomasmorris 12:d9c133b360b0 137 }else{
thomasmorris 12:d9c133b360b0 138 _step--;
thomasmorris 12:d9c133b360b0 139 }
thomasmorris 12:d9c133b360b0 140 if(_step>7){
thomasmorris 12:d9c133b360b0 141 _step=0;
thomasmorris 12:d9c133b360b0 142 }
thomasmorris 12:d9c133b360b0 143 if(_step<0){
thomasmorris 12:d9c133b360b0 144 _step=7;
thomasmorris 12:d9c133b360b0 145 }
thomasmorris 12:d9c133b360b0 146 */
thomasmorris 12:d9c133b360b0 147 //wait_ms(1);
thomasmorris 12:d9c133b360b0 148
thomasmorris 12:d9c133b360b0 149
thomasmorris 12:d9c133b360b0 150 void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
thomasmorris 12:d9c133b360b0 151 {
thomasmorris 12:d9c133b360b0 152 switch(_step){
thomasmorris 12:d9c133b360b0 153 case 0:
thomasmorris 12:d9c133b360b0 154 pin1 = 0;
thomasmorris 12:d9c133b360b0 155 pin2 = 0;
thomasmorris 12:d9c133b360b0 156 pin3 = 0;
thomasmorris 12:d9c133b360b0 157 pin4 = 1;
thomasmorris 12:d9c133b360b0 158 break;
thomasmorris 12:d9c133b360b0 159 case 1:
thomasmorris 12:d9c133b360b0 160 pin1 = 0;
thomasmorris 12:d9c133b360b0 161 pin2 = 0;
thomasmorris 12:d9c133b360b0 162 pin3 = 1;
thomasmorris 12:d9c133b360b0 163 pin4 = 1;
thomasmorris 12:d9c133b360b0 164 break;
thomasmorris 12:d9c133b360b0 165 case 2:
thomasmorris 12:d9c133b360b0 166 pin1 = 0;
thomasmorris 12:d9c133b360b0 167 pin2 = 0;
thomasmorris 12:d9c133b360b0 168 pin3 = 1;
thomasmorris 12:d9c133b360b0 169 pin4 = 0;
thomasmorris 12:d9c133b360b0 170 break;
thomasmorris 12:d9c133b360b0 171 case 3:
thomasmorris 12:d9c133b360b0 172 pin1 = 0;
thomasmorris 12:d9c133b360b0 173 pin2 = 1;
thomasmorris 12:d9c133b360b0 174 pin3 = 1;
thomasmorris 12:d9c133b360b0 175 pin4 = 0;
thomasmorris 12:d9c133b360b0 176 break;
thomasmorris 12:d9c133b360b0 177 case 4:
thomasmorris 12:d9c133b360b0 178 pin1 = 0;
thomasmorris 12:d9c133b360b0 179 pin2 = 1;
thomasmorris 12:d9c133b360b0 180 pin3 = 0;
thomasmorris 12:d9c133b360b0 181 pin4 = 0;
thomasmorris 12:d9c133b360b0 182 break;
thomasmorris 12:d9c133b360b0 183 case 5:
thomasmorris 12:d9c133b360b0 184 pin1 = 1;
thomasmorris 12:d9c133b360b0 185 pin2 = 1;
thomasmorris 12:d9c133b360b0 186 pin3 = 0;
thomasmorris 12:d9c133b360b0 187 pin4 = 0;
thomasmorris 12:d9c133b360b0 188 break;
thomasmorris 12:d9c133b360b0 189 case 6:
thomasmorris 12:d9c133b360b0 190 pin1 = 1;
thomasmorris 12:d9c133b360b0 191 pin2 = 0;
thomasmorris 12:d9c133b360b0 192 pin3 = 0;
thomasmorris 12:d9c133b360b0 193 pin4 = 0;
thomasmorris 12:d9c133b360b0 194 break;
thomasmorris 12:d9c133b360b0 195 case 7:
thomasmorris 12:d9c133b360b0 196 pin1 = 1;
thomasmorris 12:d9c133b360b0 197 pin2 = 0;
thomasmorris 12:d9c133b360b0 198 pin3 = 0;
thomasmorris 12:d9c133b360b0 199 pin4 = 1;
thomasmorris 12:d9c133b360b0 200 break;
thomasmorris 12:d9c133b360b0 201 default:
thomasmorris 12:d9c133b360b0 202 pin1 = 0;
thomasmorris 12:d9c133b360b0 203 pin2 = 0;
thomasmorris 12:d9c133b360b0 204 pin3 = 0;
thomasmorris 12:d9c133b360b0 205 pin4 = 0;
thomasmorris 12:d9c133b360b0 206 break;
thomasmorris 12:d9c133b360b0 207 }
thomasmorris 12:d9c133b360b0 208 if(_dir){
thomasmorris 12:d9c133b360b0 209 _step++;
thomasmorris 12:d9c133b360b0 210 }else{
thomasmorris 12:d9c133b360b0 211 _step--;
thomasmorris 12:d9c133b360b0 212 }
thomasmorris 12:d9c133b360b0 213 if(_step>7){
thomasmorris 12:d9c133b360b0 214 _step=0;
thomasmorris 12:d9c133b360b0 215 }
thomasmorris 12:d9c133b360b0 216 if(_step<0){
thomasmorris 12:d9c133b360b0 217 _step=7;
thomasmorris 12:d9c133b360b0 218 }
thomasmorris 12:d9c133b360b0 219 }
thomasmorris 12:d9c133b360b0 220
thomasmorris 12:d9c133b360b0 221 void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
thomasmorris 12:d9c133b360b0 222 {
thomasmorris 12:d9c133b360b0 223
thomasmorris 12:d9c133b360b0 224 //Rotate
thomasmorris 12:d9c133b360b0 225 switch(_step){
thomasmorris 12:d9c133b360b0 226 case 0:
thomasmorris 12:d9c133b360b0 227 pin1 = 1;
thomasmorris 12:d9c133b360b0 228 pin2 = 0;
thomasmorris 12:d9c133b360b0 229 pin3 = 0;
thomasmorris 12:d9c133b360b0 230 pin4 = 1;
thomasmorris 12:d9c133b360b0 231 break;
thomasmorris 12:d9c133b360b0 232 case 1:
thomasmorris 12:d9c133b360b0 233 pin1 = 1;
thomasmorris 12:d9c133b360b0 234 pin2 = 0;
thomasmorris 12:d9c133b360b0 235 pin3 = 0;
thomasmorris 12:d9c133b360b0 236 pin4 = 0;
thomasmorris 12:d9c133b360b0 237 break;
thomasmorris 12:d9c133b360b0 238 case 2:
thomasmorris 12:d9c133b360b0 239 pin1 = 1;
thomasmorris 12:d9c133b360b0 240 pin2 = 1;
thomasmorris 12:d9c133b360b0 241 pin3 = 0;
thomasmorris 12:d9c133b360b0 242 pin4 = 0;
thomasmorris 12:d9c133b360b0 243 break;
thomasmorris 12:d9c133b360b0 244 case 3:
thomasmorris 12:d9c133b360b0 245 pin1 = 0;
thomasmorris 12:d9c133b360b0 246 pin2 = 1;
thomasmorris 12:d9c133b360b0 247 pin3 = 0;
thomasmorris 12:d9c133b360b0 248 pin4 = 0;
thomasmorris 12:d9c133b360b0 249 break;
thomasmorris 12:d9c133b360b0 250 case 4:
thomasmorris 12:d9c133b360b0 251 pin1 = 0;
thomasmorris 12:d9c133b360b0 252 pin2 = 1;
thomasmorris 12:d9c133b360b0 253 pin3 = 1;
thomasmorris 12:d9c133b360b0 254 pin4 = 0;
thomasmorris 12:d9c133b360b0 255 break;
thomasmorris 12:d9c133b360b0 256 case 5:
thomasmorris 12:d9c133b360b0 257 pin1 = 0;
thomasmorris 12:d9c133b360b0 258 pin2 = 0;
thomasmorris 12:d9c133b360b0 259 pin3 = 1;
thomasmorris 12:d9c133b360b0 260 pin4 = 0;
thomasmorris 12:d9c133b360b0 261 break;
thomasmorris 12:d9c133b360b0 262 case 6:
thomasmorris 12:d9c133b360b0 263 pin1 = 0;
thomasmorris 12:d9c133b360b0 264 pin2 = 0;
thomasmorris 12:d9c133b360b0 265 pin3 = 1;
thomasmorris 12:d9c133b360b0 266 pin4 = 1;
thomasmorris 12:d9c133b360b0 267 break;
thomasmorris 12:d9c133b360b0 268 case 7:
thomasmorris 12:d9c133b360b0 269 pin1 = 0;
thomasmorris 12:d9c133b360b0 270 pin2 = 0;
thomasmorris 12:d9c133b360b0 271 pin3 = 0;
thomasmorris 12:d9c133b360b0 272 pin4 = 1;
thomasmorris 12:d9c133b360b0 273 break;
thomasmorris 12:d9c133b360b0 274 default:
thomasmorris 12:d9c133b360b0 275 pin1 = 0;
thomasmorris 12:d9c133b360b0 276 pin2 = 0;
thomasmorris 12:d9c133b360b0 277 pin3 = 0;
thomasmorris 12:d9c133b360b0 278 pin4 = 0;
thomasmorris 12:d9c133b360b0 279 break;
thomasmorris 12:d9c133b360b0 280 }
thomasmorris 12:d9c133b360b0 281 if(_dir){
thomasmorris 12:d9c133b360b0 282 _step++;
thomasmorris 12:d9c133b360b0 283 }else{
thomasmorris 12:d9c133b360b0 284 _step--;
thomasmorris 12:d9c133b360b0 285 }
thomasmorris 12:d9c133b360b0 286 if(_step>7){
thomasmorris 12:d9c133b360b0 287 _step=0;
thomasmorris 12:d9c133b360b0 288 }
thomasmorris 12:d9c133b360b0 289 if(_step<0){
thomasmorris 12:d9c133b360b0 290 _step=7;
thomasmorris 12:d9c133b360b0 291 }
thomasmorris 12:d9c133b360b0 292 //wait_ms(1);
thomasmorris 12:d9c133b360b0 293 }
thomasmorris 12:d9c133b360b0 294