Testing 1 blue pill
Dependencies: mbed mbed-rtos TextLCD
STEPPER_MOTOR.cpp
- Committer:
- thomasmorris
- Date:
- 2019-02-11
- Revision:
- 16:9f98ec0ededb
- Parent:
- 14:63998be3d43c
File content as of revision 16:9f98ec0ededb:
#include "mbed.h" //Include the mbed libraries #include "STEPPER_MOTOR.hpp" //Include the header file, this acts like a series of forward declarations //Constructor STEPPER_MOTOR::STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4) : pin1(N1),pin2(N2),pin3(N3),pin4(N4) { _dir = true; _step = 0; } STEPPER_MOTOR::~STEPPER_MOTOR(){} //Destructor int STEPPER_MOTOR::Get_Steps_Done() { return _Steps_Done; } void STEPPER_MOTOR::Rotate_Steps(int Steps) { #define STIME 1000 Steps = Steps*50; //int correctionfactor; //int timeofturn=correctinfactor*speed; _Steps_Done = 0; int mystep=0; //printf("START!!! step value is=%d\n\r",mystep); for(int x =0 ; x <= Steps; x++) { //printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); // debugging feedback // phase pulse order this->pin1 = 0; this->pin2 = 1; this->pin3 = 0; this->pin4 = 1; mystep=1; wait_us(1000); //printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); this->pin1 = 0; this->pin2 = 1; this->pin3 = 1; this->pin4 = 0; mystep=2; wait_us(1000); //printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); this->pin1 = 1; this->pin2 = 0; this->pin3 = 1; this->pin4 = 0; mystep=3; wait_us(1000); // printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); this->pin1 = 1; this->pin2 = 0; this->pin3 = 0; this->pin4 = 1; mystep=4; wait_us(1000); _Steps_Done = _Steps_Done+1; /* printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); this->pin1 = 0; this->pin2 = 1; this->pin3 = 0; this->pin4 = 0; mystep=5; wait_ms(0.6); printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); this->pin1 = 1; this->pin2 = 1; this->pin3 = 0; this->pin4 = 0; mystep=6; wait_ms(0.6); printf("FOR LOOP! step value is=%d %d\n\r",mystep,x); this->pin1 = 1; this->pin2 = 0; this->pin3 = 0; this->pin4 = 0; mystep=7; wait_ms(0.6); this->pin1 = 1; this->pin2 = 0; this->pin3 = 0; this->pin4 = 1; mystep=0; wait_ms(0.6); this->pin1 = 0; this->pin2 = 0; this->pin3 = 0; this->pin4 = 0; mystep=0; wait_ms(0.6);*/ } this->pin1 = 0; this->pin2 = 0; this->pin3 = 0; this->pin4 = 0; } /* switch(mystep){ case 0:{ break; case 1:{ break; case 2: break; case 3: break; case 4: break; case 5: break; case 6: break; case 7: break; default: break; } if(_dir){ _step++; }else{ _step--; } if(_step>7){ _step=0; } if(_step<0){ _step=7; } */ //wait_ms(1); void STEPPER_MOTOR::Permanent_Rotate_clock_wise() { switch(_step){ case 0: pin1 = 0; pin2 = 0; pin3 = 0; pin4 = 1; break; case 1: pin1 = 0; pin2 = 0; pin3 = 1; pin4 = 1; break; case 2: pin1 = 0; pin2 = 0; pin3 = 1; pin4 = 0; break; case 3: pin1 = 0; pin2 = 1; pin3 = 1; pin4 = 0; break; case 4: pin1 = 0; pin2 = 1; pin3 = 0; pin4 = 0; break; case 5: pin1 = 1; pin2 = 1; pin3 = 0; pin4 = 0; break; case 6: pin1 = 1; pin2 = 0; pin3 = 0; pin4 = 0; break; case 7: pin1 = 1; pin2 = 0; pin3 = 0; pin4 = 1; break; default: pin1 = 0; pin2 = 0; pin3 = 0; pin4 = 0; break; } if(_dir){ _step++; }else{ _step--; } if(_step>7){ _step=0; } if(_step<0){ _step=7; } } void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise() { //Rotate switch(_step){ case 0: pin1 = 1; pin2 = 0; pin3 = 0; pin4 = 1; break; case 1: pin1 = 1; pin2 = 0; pin3 = 0; pin4 = 0; break; case 2: pin1 = 1; pin2 = 1; pin3 = 0; pin4 = 0; break; case 3: pin1 = 0; pin2 = 1; pin3 = 0; pin4 = 0; break; case 4: pin1 = 0; pin2 = 1; pin3 = 1; pin4 = 0; break; case 5: pin1 = 0; pin2 = 0; pin3 = 1; pin4 = 0; break; case 6: pin1 = 0; pin2 = 0; pin3 = 1; pin4 = 1; break; case 7: pin1 = 0; pin2 = 0; pin3 = 0; pin4 = 1; break; default: pin1 = 0; pin2 = 0; pin3 = 0; pin4 = 0; break; } if(_dir){ _step++; }else{ _step--; } if(_step>7){ _step=0; } if(_step<0){ _step=7; } //wait_ms(1); }