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Dependencies:   mbed mbed-rtos TextLCD

STEPPER_MOTOR.cpp@12:d9c133b360b0, 2019-02-05 (annotated)

Committer:
thomasmorris
Date:
Tue Feb 05 16:20:32 2019 +0000
Revision:
12:d9c133b360b0
Child:
14:63998be3d43c
Working LCD

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