Thomas Morris / Mbed 2 deprecated Stacy

Testing 1 blue pill

Dependencies:   mbed mbed-rtos TextLCD

Stepper_Motor/STEPPER_MOTOR.cpp@29:f3b1387c81f1, 2019-03-13 (annotated)

Committer:
thomasmorris
Date:
Wed Mar 13 11:34:39 2019 +0000
Revision:
29:f3b1387c81f1
Parent:
28:3193157ebb0c
Child:
30:a35f0ab97a65
Final Coiling Rig;

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 28:3193157ebb0c 3 int loop_wait_time = 0;
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 29:f3b1387c81f1 25 void STEPPER_MOTOR::Rotate_Steps(int Steps,int Function,bool Direction)
thomasmorris 25:9751619fa030 26 {
thomasmorris 28:3193157ebb0c 27 if(Function == 2)//Coiling
thomasmorris 25:9751619fa030 28 {
thomasmorris 28:3193157ebb0c 29 loop_wait_time = 2;
thomasmorris 25:9751619fa030 30 }
thomasmorris 25:9751619fa030 31 else if(Function == 3)
thomasmorris 25:9751619fa030 32 {
thomasmorris 28:3193157ebb0c 33 loop_wait_time = 2;//Twisting
thomasmorris 25:9751619fa030 34 }
thomasmorris 29:f3b1387c81f1 35 Steps = Steps*50;//int correctionfactor;//int timeofturn=correctinfactor*speed;
thomasmorris 23:07a368f2cdb1 36 _Steps_Done = 0;
thomasmorris 29:f3b1387c81f1 37
thomasmorris 23:07a368f2cdb1 38 for(int x =0 ; x <= Steps; x++)
thomasmorris 23:07a368f2cdb1 39 {
thomasmorris 23:07a368f2cdb1 40 if(_Pause_Code == 0)
thomasmorris 23:07a368f2cdb1 41 {
thomasmorris 29:f3b1387c81f1 42 if(Direction == 0)
thomasmorris 29:f3b1387c81f1 43 {
thomasmorris 29:f3b1387c81f1 44 this->pin1 = 0;
thomasmorris 29:f3b1387c81f1 45 this->pin2 = 1;
thomasmorris 29:f3b1387c81f1 46 this->pin3 = 0;
thomasmorris 29:f3b1387c81f1 47 this->pin4 = 1;
thomasmorris 29:f3b1387c81f1 48 Thread::wait(loop_wait_time);
thomasmorris 29:f3b1387c81f1 49 this->pin1 = 0;
thomasmorris 29:f3b1387c81f1 50 this->pin2 = 1;
thomasmorris 29:f3b1387c81f1 51 this->pin3 = 1;
thomasmorris 29:f3b1387c81f1 52 this->pin4 = 0;
thomasmorris 29:f3b1387c81f1 53 Thread::wait(loop_wait_time);
thomasmorris 29:f3b1387c81f1 54 this->pin1 = 1;
thomasmorris 29:f3b1387c81f1 55 this->pin2 = 0;
thomasmorris 29:f3b1387c81f1 56 this->pin3 = 1;
thomasmorris 29:f3b1387c81f1 57 this->pin4 = 0;
thomasmorris 29:f3b1387c81f1 58 Thread::wait(loop_wait_time);
thomasmorris 29:f3b1387c81f1 59 this->pin1 = 1;
thomasmorris 29:f3b1387c81f1 60 this->pin2 = 0;
thomasmorris 29:f3b1387c81f1 61 this->pin3 = 0;
thomasmorris 29:f3b1387c81f1 62 this->pin4 = 1;
thomasmorris 29:f3b1387c81f1 63 }
thomasmorris 29:f3b1387c81f1 64 else if (Direction == 1)
thomasmorris 29:f3b1387c81f1 65 {
thomasmorris 29:f3b1387c81f1 66 this->pin1 = 1;
thomasmorris 29:f3b1387c81f1 67 this->pin2 = 0;
thomasmorris 29:f3b1387c81f1 68 this->pin3 = 0;
thomasmorris 29:f3b1387c81f1 69 this->pin4 = 1;
thomasmorris 29:f3b1387c81f1 70 Thread::wait(loop_wait_time);
thomasmorris 29:f3b1387c81f1 71 this->pin1 = 1;
thomasmorris 29:f3b1387c81f1 72 this->pin2 = 0;
thomasmorris 29:f3b1387c81f1 73 this->pin3 = 1;
thomasmorris 29:f3b1387c81f1 74 this->pin4 = 0;
thomasmorris 29:f3b1387c81f1 75 Thread::wait(loop_wait_time);
thomasmorris 29:f3b1387c81f1 76 this->pin1 = 0;
thomasmorris 29:f3b1387c81f1 77 this->pin2 = 1;
thomasmorris 29:f3b1387c81f1 78 this->pin3 = 1;
thomasmorris 29:f3b1387c81f1 79 this->pin4 = 0;
thomasmorris 29:f3b1387c81f1 80 Thread::wait(loop_wait_time);
thomasmorris 29:f3b1387c81f1 81 this->pin1 = 0;
thomasmorris 29:f3b1387c81f1 82 this->pin2 = 1;
thomasmorris 29:f3b1387c81f1 83 this->pin3 = 0;
thomasmorris 29:f3b1387c81f1 84 this->pin4 = 1;
thomasmorris 29:f3b1387c81f1 85 Thread::wait(loop_wait_time);
thomasmorris 29:f3b1387c81f1 86 }
thomasmorris 25:9751619fa030 87 Thread::wait(loop_wait_time);
thomasmorris 23:07a368f2cdb1 88 _Steps_Done = _Steps_Done +1;
thomasmorris 23:07a368f2cdb1 89 }
thomasmorris 23:07a368f2cdb1 90 else if (_Pause_Code == 1)
thomasmorris 23:07a368f2cdb1 91 {
thomasmorris 23:07a368f2cdb1 92 printf("Stepper motor code paused\n");
thomasmorris 23:07a368f2cdb1 93 while(_Pause_Code == 1)
thomasmorris 23:07a368f2cdb1 94 {
thomasmorris 23:07a368f2cdb1 95 Thread::wait(1);
thomasmorris 23:07a368f2cdb1 96 }
thomasmorris 23:07a368f2cdb1 97 }
thomasmorris 23:07a368f2cdb1 98 }//End of for loop
thomasmorris 23:07a368f2cdb1 99 this->pin1 = 0;
thomasmorris 23:07a368f2cdb1 100 this->pin2 = 0;
thomasmorris 23:07a368f2cdb1 101 this->pin3 = 0;
thomasmorris 23:07a368f2cdb1 102 this->pin4 = 0;
thomasmorris 12:d9c133b360b0 103 }
thomasmorris 12:d9c133b360b0 104 void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
thomasmorris 12:d9c133b360b0 105 {
thomasmorris 12:d9c133b360b0 106 switch(_step){
thomasmorris 12:d9c133b360b0 107 case 0:
thomasmorris 12:d9c133b360b0 108 pin1 = 0;
thomasmorris 12:d9c133b360b0 109 pin2 = 0;
thomasmorris 12:d9c133b360b0 110 pin3 = 0;
thomasmorris 12:d9c133b360b0 111 pin4 = 1;
thomasmorris 12:d9c133b360b0 112 break;
thomasmorris 12:d9c133b360b0 113 case 1:
thomasmorris 12:d9c133b360b0 114 pin1 = 0;
thomasmorris 12:d9c133b360b0 115 pin2 = 0;
thomasmorris 12:d9c133b360b0 116 pin3 = 1;
thomasmorris 12:d9c133b360b0 117 pin4 = 1;
thomasmorris 12:d9c133b360b0 118 break;
thomasmorris 12:d9c133b360b0 119 case 2:
thomasmorris 12:d9c133b360b0 120 pin1 = 0;
thomasmorris 12:d9c133b360b0 121 pin2 = 0;
thomasmorris 12:d9c133b360b0 122 pin3 = 1;
thomasmorris 12:d9c133b360b0 123 pin4 = 0;
thomasmorris 12:d9c133b360b0 124 break;
thomasmorris 12:d9c133b360b0 125 case 3:
thomasmorris 12:d9c133b360b0 126 pin1 = 0;
thomasmorris 12:d9c133b360b0 127 pin2 = 1;
thomasmorris 12:d9c133b360b0 128 pin3 = 1;
thomasmorris 12:d9c133b360b0 129 pin4 = 0;
thomasmorris 12:d9c133b360b0 130 break;
thomasmorris 12:d9c133b360b0 131 case 4:
thomasmorris 12:d9c133b360b0 132 pin1 = 0;
thomasmorris 12:d9c133b360b0 133 pin2 = 1;
thomasmorris 12:d9c133b360b0 134 pin3 = 0;
thomasmorris 12:d9c133b360b0 135 pin4 = 0;
thomasmorris 12:d9c133b360b0 136 break;
thomasmorris 12:d9c133b360b0 137 case 5:
thomasmorris 12:d9c133b360b0 138 pin1 = 1;
thomasmorris 12:d9c133b360b0 139 pin2 = 1;
thomasmorris 12:d9c133b360b0 140 pin3 = 0;
thomasmorris 12:d9c133b360b0 141 pin4 = 0;
thomasmorris 12:d9c133b360b0 142 break;
thomasmorris 12:d9c133b360b0 143 case 6:
thomasmorris 12:d9c133b360b0 144 pin1 = 1;
thomasmorris 12:d9c133b360b0 145 pin2 = 0;
thomasmorris 12:d9c133b360b0 146 pin3 = 0;
thomasmorris 12:d9c133b360b0 147 pin4 = 0;
thomasmorris 12:d9c133b360b0 148 break;
thomasmorris 12:d9c133b360b0 149 case 7:
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 default:
thomasmorris 12:d9c133b360b0 156 pin1 = 0;
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 }
thomasmorris 12:d9c133b360b0 162 if(_dir){
thomasmorris 12:d9c133b360b0 163 _step++;
thomasmorris 12:d9c133b360b0 164 }else{
thomasmorris 12:d9c133b360b0 165 _step--;
thomasmorris 12:d9c133b360b0 166 }
thomasmorris 12:d9c133b360b0 167 if(_step>7){
thomasmorris 12:d9c133b360b0 168 _step=0;
thomasmorris 12:d9c133b360b0 169 }
thomasmorris 12:d9c133b360b0 170 if(_step<0){
thomasmorris 12:d9c133b360b0 171 _step=7;
thomasmorris 12:d9c133b360b0 172 }
thomasmorris 12:d9c133b360b0 173 }
thomasmorris 12:d9c133b360b0 174
thomasmorris 12:d9c133b360b0 175 void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
thomasmorris 12:d9c133b360b0 176 {
thomasmorris 12:d9c133b360b0 177
thomasmorris 12:d9c133b360b0 178 //Rotate
thomasmorris 12:d9c133b360b0 179 switch(_step){
thomasmorris 12:d9c133b360b0 180 case 0:
thomasmorris 12:d9c133b360b0 181 pin1 = 1;
thomasmorris 12:d9c133b360b0 182 pin2 = 0;
thomasmorris 12:d9c133b360b0 183 pin3 = 0;
thomasmorris 12:d9c133b360b0 184 pin4 = 1;
thomasmorris 12:d9c133b360b0 185 break;
thomasmorris 12:d9c133b360b0 186 case 1:
thomasmorris 12:d9c133b360b0 187 pin1 = 1;
thomasmorris 12:d9c133b360b0 188 pin2 = 0;
thomasmorris 12:d9c133b360b0 189 pin3 = 0;
thomasmorris 12:d9c133b360b0 190 pin4 = 0;
thomasmorris 12:d9c133b360b0 191 break;
thomasmorris 12:d9c133b360b0 192 case 2:
thomasmorris 12:d9c133b360b0 193 pin1 = 1;
thomasmorris 12:d9c133b360b0 194 pin2 = 1;
thomasmorris 12:d9c133b360b0 195 pin3 = 0;
thomasmorris 12:d9c133b360b0 196 pin4 = 0;
thomasmorris 12:d9c133b360b0 197 break;
thomasmorris 12:d9c133b360b0 198 case 3:
thomasmorris 12:d9c133b360b0 199 pin1 = 0;
thomasmorris 12:d9c133b360b0 200 pin2 = 1;
thomasmorris 12:d9c133b360b0 201 pin3 = 0;
thomasmorris 12:d9c133b360b0 202 pin4 = 0;
thomasmorris 12:d9c133b360b0 203 break;
thomasmorris 12:d9c133b360b0 204 case 4:
thomasmorris 12:d9c133b360b0 205 pin1 = 0;
thomasmorris 12:d9c133b360b0 206 pin2 = 1;
thomasmorris 12:d9c133b360b0 207 pin3 = 1;
thomasmorris 12:d9c133b360b0 208 pin4 = 0;
thomasmorris 12:d9c133b360b0 209 break;
thomasmorris 12:d9c133b360b0 210 case 5:
thomasmorris 12:d9c133b360b0 211 pin1 = 0;
thomasmorris 12:d9c133b360b0 212 pin2 = 0;
thomasmorris 12:d9c133b360b0 213 pin3 = 1;
thomasmorris 12:d9c133b360b0 214 pin4 = 0;
thomasmorris 12:d9c133b360b0 215 break;
thomasmorris 12:d9c133b360b0 216 case 6:
thomasmorris 12:d9c133b360b0 217 pin1 = 0;
thomasmorris 12:d9c133b360b0 218 pin2 = 0;
thomasmorris 12:d9c133b360b0 219 pin3 = 1;
thomasmorris 12:d9c133b360b0 220 pin4 = 1;
thomasmorris 12:d9c133b360b0 221 break;
thomasmorris 12:d9c133b360b0 222 case 7:
thomasmorris 12:d9c133b360b0 223 pin1 = 0;
thomasmorris 12:d9c133b360b0 224 pin2 = 0;
thomasmorris 12:d9c133b360b0 225 pin3 = 0;
thomasmorris 12:d9c133b360b0 226 pin4 = 1;
thomasmorris 12:d9c133b360b0 227 break;
thomasmorris 12:d9c133b360b0 228 default:
thomasmorris 12:d9c133b360b0 229 pin1 = 0;
thomasmorris 12:d9c133b360b0 230 pin2 = 0;
thomasmorris 12:d9c133b360b0 231 pin3 = 0;
thomasmorris 12:d9c133b360b0 232 pin4 = 0;
thomasmorris 12:d9c133b360b0 233 break;
thomasmorris 12:d9c133b360b0 234 }
thomasmorris 12:d9c133b360b0 235 if(_dir){
thomasmorris 12:d9c133b360b0 236 _step++;
thomasmorris 12:d9c133b360b0 237 }else{
thomasmorris 12:d9c133b360b0 238 _step--;
thomasmorris 12:d9c133b360b0 239 }
thomasmorris 12:d9c133b360b0 240 if(_step>7){
thomasmorris 12:d9c133b360b0 241 _step=0;
thomasmorris 12:d9c133b360b0 242 }
thomasmorris 12:d9c133b360b0 243 if(_step<0){
thomasmorris 12:d9c133b360b0 244 _step=7;
thomasmorris 12:d9c133b360b0 245 }
thomasmorris 12:d9c133b360b0 246 //wait_ms(1);
thomasmorris 12:d9c133b360b0 247 }
thomasmorris 12:d9c133b360b0 248