Thomas Morris / Mbed 2 deprecated Stacy

Testing 1 blue pill

Dependencies:   mbed mbed-rtos TextLCD

Stepper_Motor/STEPPER_MOTOR.cpp@25:9751619fa030, 2019-02-18 (annotated)

Committer:
thomasmorris
Date:
Mon Feb 18 22:04:54 2019 +0000
Revision:
25:9751619fa030
Parent:
23:07a368f2cdb1
Child:
28:3193157ebb0c
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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 25:9751619fa030 25 void STEPPER_MOTOR::Rotate_Steps(int Steps,int Function)
thomasmorris 25:9751619fa030 26 {
thomasmorris 25:9751619fa030 27 if(Function == 2)
thomasmorris 25:9751619fa030 28 {
thomasmorris 25:9751619fa030 29 loop_wait_time = 1;
thomasmorris 25:9751619fa030 30 }
thomasmorris 25:9751619fa030 31 else if(Function == 3)
thomasmorris 25:9751619fa030 32 {
thomasmorris 25:9751619fa030 33 loop_wait_time = 2;
thomasmorris 25:9751619fa030 34 }
thomasmorris 23:07a368f2cdb1 35 Steps = Steps*50;
thomasmorris 23:07a368f2cdb1 36 //int correctionfactor;
thomasmorris 23:07a368f2cdb1 37 //int timeofturn=correctinfactor*speed;
thomasmorris 23:07a368f2cdb1 38 _Steps_Done = 0;
thomasmorris 23:07a368f2cdb1 39 //int mystep=0;
thomasmorris 23:07a368f2cdb1 40 //printf("START!!! step value is=%d\n\r",mystep);
thomasmorris 23:07a368f2cdb1 41 for(int x =0 ; x <= Steps; x++)
thomasmorris 23:07a368f2cdb1 42 {
thomasmorris 23:07a368f2cdb1 43 if(_Pause_Code == 0)
thomasmorris 23:07a368f2cdb1 44 {
thomasmorris 17:68b3fdabe4c5 45 this->pin1 = 0;
thomasmorris 23:07a368f2cdb1 46 this->pin2 = 1;
thomasmorris 23:07a368f2cdb1 47 this->pin3 = 0;
thomasmorris 23:07a368f2cdb1 48 this->pin4 = 1;
thomasmorris 25:9751619fa030 49 Thread::wait(loop_wait_time);
thomasmorris 23:07a368f2cdb1 50 this->pin1 = 0;
thomasmorris 23:07a368f2cdb1 51 this->pin2 = 1;
thomasmorris 23:07a368f2cdb1 52 this->pin3 = 1;
thomasmorris 23:07a368f2cdb1 53 this->pin4 = 0;
thomasmorris 25:9751619fa030 54 Thread::wait(loop_wait_time);
thomasmorris 23:07a368f2cdb1 55 this->pin1 = 1;
thomasmorris 23:07a368f2cdb1 56 this->pin2 = 0;
thomasmorris 23:07a368f2cdb1 57 this->pin3 = 1;
thomasmorris 23:07a368f2cdb1 58 this->pin4 = 0;
thomasmorris 25:9751619fa030 59 Thread::wait(loop_wait_time);
thomasmorris 23:07a368f2cdb1 60 this->pin1 = 1;
thomasmorris 17:68b3fdabe4c5 61 this->pin2 = 0;
thomasmorris 17:68b3fdabe4c5 62 this->pin3 = 0;
thomasmorris 23:07a368f2cdb1 63 this->pin4 = 1;
thomasmorris 25:9751619fa030 64 Thread::wait(loop_wait_time);
thomasmorris 23:07a368f2cdb1 65 _Steps_Done = _Steps_Done +1;
thomasmorris 23:07a368f2cdb1 66 }
thomasmorris 23:07a368f2cdb1 67 else if (_Pause_Code == 1)
thomasmorris 23:07a368f2cdb1 68 {
thomasmorris 23:07a368f2cdb1 69 printf("Stepper motor code paused\n");
thomasmorris 23:07a368f2cdb1 70 while(_Pause_Code == 1)
thomasmorris 23:07a368f2cdb1 71 {
thomasmorris 23:07a368f2cdb1 72 Thread::wait(1);
thomasmorris 23:07a368f2cdb1 73 }
thomasmorris 23:07a368f2cdb1 74 }
thomasmorris 23:07a368f2cdb1 75 }//End of for loop
thomasmorris 23:07a368f2cdb1 76 this->pin1 = 0;
thomasmorris 23:07a368f2cdb1 77 this->pin2 = 0;
thomasmorris 23:07a368f2cdb1 78 this->pin3 = 0;
thomasmorris 23:07a368f2cdb1 79 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 80 }
thomasmorris 12:d9c133b360b0 81 void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
thomasmorris 12:d9c133b360b0 82 {
thomasmorris 12:d9c133b360b0 83 switch(_step){
thomasmorris 12:d9c133b360b0 84 case 0:
thomasmorris 12:d9c133b360b0 85 pin1 = 0;
thomasmorris 12:d9c133b360b0 86 pin2 = 0;
thomasmorris 12:d9c133b360b0 87 pin3 = 0;
thomasmorris 12:d9c133b360b0 88 pin4 = 1;
thomasmorris 12:d9c133b360b0 89 break;
thomasmorris 12:d9c133b360b0 90 case 1:
thomasmorris 12:d9c133b360b0 91 pin1 = 0;
thomasmorris 12:d9c133b360b0 92 pin2 = 0;
thomasmorris 12:d9c133b360b0 93 pin3 = 1;
thomasmorris 12:d9c133b360b0 94 pin4 = 1;
thomasmorris 12:d9c133b360b0 95 break;
thomasmorris 12:d9c133b360b0 96 case 2:
thomasmorris 12:d9c133b360b0 97 pin1 = 0;
thomasmorris 12:d9c133b360b0 98 pin2 = 0;
thomasmorris 12:d9c133b360b0 99 pin3 = 1;
thomasmorris 12:d9c133b360b0 100 pin4 = 0;
thomasmorris 12:d9c133b360b0 101 break;
thomasmorris 12:d9c133b360b0 102 case 3:
thomasmorris 12:d9c133b360b0 103 pin1 = 0;
thomasmorris 12:d9c133b360b0 104 pin2 = 1;
thomasmorris 12:d9c133b360b0 105 pin3 = 1;
thomasmorris 12:d9c133b360b0 106 pin4 = 0;
thomasmorris 12:d9c133b360b0 107 break;
thomasmorris 12:d9c133b360b0 108 case 4:
thomasmorris 12:d9c133b360b0 109 pin1 = 0;
thomasmorris 12:d9c133b360b0 110 pin2 = 1;
thomasmorris 12:d9c133b360b0 111 pin3 = 0;
thomasmorris 12:d9c133b360b0 112 pin4 = 0;
thomasmorris 12:d9c133b360b0 113 break;
thomasmorris 12:d9c133b360b0 114 case 5:
thomasmorris 12:d9c133b360b0 115 pin1 = 1;
thomasmorris 12:d9c133b360b0 116 pin2 = 1;
thomasmorris 12:d9c133b360b0 117 pin3 = 0;
thomasmorris 12:d9c133b360b0 118 pin4 = 0;
thomasmorris 12:d9c133b360b0 119 break;
thomasmorris 12:d9c133b360b0 120 case 6:
thomasmorris 12:d9c133b360b0 121 pin1 = 1;
thomasmorris 12:d9c133b360b0 122 pin2 = 0;
thomasmorris 12:d9c133b360b0 123 pin3 = 0;
thomasmorris 12:d9c133b360b0 124 pin4 = 0;
thomasmorris 12:d9c133b360b0 125 break;
thomasmorris 12:d9c133b360b0 126 case 7:
thomasmorris 12:d9c133b360b0 127 pin1 = 1;
thomasmorris 12:d9c133b360b0 128 pin2 = 0;
thomasmorris 12:d9c133b360b0 129 pin3 = 0;
thomasmorris 12:d9c133b360b0 130 pin4 = 1;
thomasmorris 12:d9c133b360b0 131 break;
thomasmorris 12:d9c133b360b0 132 default:
thomasmorris 12:d9c133b360b0 133 pin1 = 0;
thomasmorris 12:d9c133b360b0 134 pin2 = 0;
thomasmorris 12:d9c133b360b0 135 pin3 = 0;
thomasmorris 12:d9c133b360b0 136 pin4 = 0;
thomasmorris 12:d9c133b360b0 137 break;
thomasmorris 12:d9c133b360b0 138 }
thomasmorris 12:d9c133b360b0 139 if(_dir){
thomasmorris 12:d9c133b360b0 140 _step++;
thomasmorris 12:d9c133b360b0 141 }else{
thomasmorris 12:d9c133b360b0 142 _step--;
thomasmorris 12:d9c133b360b0 143 }
thomasmorris 12:d9c133b360b0 144 if(_step>7){
thomasmorris 12:d9c133b360b0 145 _step=0;
thomasmorris 12:d9c133b360b0 146 }
thomasmorris 12:d9c133b360b0 147 if(_step<0){
thomasmorris 12:d9c133b360b0 148 _step=7;
thomasmorris 12:d9c133b360b0 149 }
thomasmorris 12:d9c133b360b0 150 }
thomasmorris 12:d9c133b360b0 151
thomasmorris 12:d9c133b360b0 152 void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
thomasmorris 12:d9c133b360b0 153 {
thomasmorris 12:d9c133b360b0 154
thomasmorris 12:d9c133b360b0 155 //Rotate
thomasmorris 12:d9c133b360b0 156 switch(_step){
thomasmorris 12:d9c133b360b0 157 case 0:
thomasmorris 12:d9c133b360b0 158 pin1 = 1;
thomasmorris 12:d9c133b360b0 159 pin2 = 0;
thomasmorris 12:d9c133b360b0 160 pin3 = 0;
thomasmorris 12:d9c133b360b0 161 pin4 = 1;
thomasmorris 12:d9c133b360b0 162 break;
thomasmorris 12:d9c133b360b0 163 case 1:
thomasmorris 12:d9c133b360b0 164 pin1 = 1;
thomasmorris 12:d9c133b360b0 165 pin2 = 0;
thomasmorris 12:d9c133b360b0 166 pin3 = 0;
thomasmorris 12:d9c133b360b0 167 pin4 = 0;
thomasmorris 12:d9c133b360b0 168 break;
thomasmorris 12:d9c133b360b0 169 case 2:
thomasmorris 12:d9c133b360b0 170 pin1 = 1;
thomasmorris 12:d9c133b360b0 171 pin2 = 1;
thomasmorris 12:d9c133b360b0 172 pin3 = 0;
thomasmorris 12:d9c133b360b0 173 pin4 = 0;
thomasmorris 12:d9c133b360b0 174 break;
thomasmorris 12:d9c133b360b0 175 case 3:
thomasmorris 12:d9c133b360b0 176 pin1 = 0;
thomasmorris 12:d9c133b360b0 177 pin2 = 1;
thomasmorris 12:d9c133b360b0 178 pin3 = 0;
thomasmorris 12:d9c133b360b0 179 pin4 = 0;
thomasmorris 12:d9c133b360b0 180 break;
thomasmorris 12:d9c133b360b0 181 case 4:
thomasmorris 12:d9c133b360b0 182 pin1 = 0;
thomasmorris 12:d9c133b360b0 183 pin2 = 1;
thomasmorris 12:d9c133b360b0 184 pin3 = 1;
thomasmorris 12:d9c133b360b0 185 pin4 = 0;
thomasmorris 12:d9c133b360b0 186 break;
thomasmorris 12:d9c133b360b0 187 case 5:
thomasmorris 12:d9c133b360b0 188 pin1 = 0;
thomasmorris 12:d9c133b360b0 189 pin2 = 0;
thomasmorris 12:d9c133b360b0 190 pin3 = 1;
thomasmorris 12:d9c133b360b0 191 pin4 = 0;
thomasmorris 12:d9c133b360b0 192 break;
thomasmorris 12:d9c133b360b0 193 case 6:
thomasmorris 12:d9c133b360b0 194 pin1 = 0;
thomasmorris 12:d9c133b360b0 195 pin2 = 0;
thomasmorris 12:d9c133b360b0 196 pin3 = 1;
thomasmorris 12:d9c133b360b0 197 pin4 = 1;
thomasmorris 12:d9c133b360b0 198 break;
thomasmorris 12:d9c133b360b0 199 case 7:
thomasmorris 12:d9c133b360b0 200 pin1 = 0;
thomasmorris 12:d9c133b360b0 201 pin2 = 0;
thomasmorris 12:d9c133b360b0 202 pin3 = 0;
thomasmorris 12:d9c133b360b0 203 pin4 = 1;
thomasmorris 12:d9c133b360b0 204 break;
thomasmorris 12:d9c133b360b0 205 default:
thomasmorris 12:d9c133b360b0 206 pin1 = 0;
thomasmorris 12:d9c133b360b0 207 pin2 = 0;
thomasmorris 12:d9c133b360b0 208 pin3 = 0;
thomasmorris 12:d9c133b360b0 209 pin4 = 0;
thomasmorris 12:d9c133b360b0 210 break;
thomasmorris 12:d9c133b360b0 211 }
thomasmorris 12:d9c133b360b0 212 if(_dir){
thomasmorris 12:d9c133b360b0 213 _step++;
thomasmorris 12:d9c133b360b0 214 }else{
thomasmorris 12:d9c133b360b0 215 _step--;
thomasmorris 12:d9c133b360b0 216 }
thomasmorris 12:d9c133b360b0 217 if(_step>7){
thomasmorris 12:d9c133b360b0 218 _step=0;
thomasmorris 12:d9c133b360b0 219 }
thomasmorris 12:d9c133b360b0 220 if(_step<0){
thomasmorris 12:d9c133b360b0 221 _step=7;
thomasmorris 12:d9c133b360b0 222 }
thomasmorris 12:d9c133b360b0 223 //wait_ms(1);
thomasmorris 12:d9c133b360b0 224 }
thomasmorris 12:d9c133b360b0 225