STEPPER_MOTOR.cpp

00001 #include "mbed.h"           //Include the mbed libraries
00002 #include "STEPPER_MOTOR.hpp"          //Include the header file, this acts like a series of forward declarations
00003 int loop_wait_time = 0;
00004 //Constructor
00005 STEPPER_MOTOR::STEPPER_MOTOR(PinName N1, PinName N2, PinName N3, PinName N4) : pin1(N1),pin2(N2),pin3(N3),pin4(N4)
00006 {
00007      _dir = true;
00008     _step = 0;    
00009 }
00010 
00011 STEPPER_MOTOR::~STEPPER_MOTOR(){}   //Destructor
00012 
00013 void STEPPER_MOTOR::Pause_Code()
00014 {
00015     _Pause_Code = 1;   
00016 }
00017 void STEPPER_MOTOR::Unpause_Code()
00018 {
00019     _Pause_Code = 0;   
00020 }
00021 float STEPPER_MOTOR::Get_Turns()
00022 {
00023     return (_Steps_Done /50);
00024 }
00025 void STEPPER_MOTOR::Rotate_Steps(int Steps,int Function,bool Direction)
00026 {   
00027     if(Function == 2)//Coiling
00028     {
00029       loop_wait_time = 2;  
00030     }
00031     else if(Function == 3)
00032     {
00033         loop_wait_time = 2;//Twisting
00034     } 
00035     Steps = Steps*50;//int correctionfactor;//int timeofturn=correctinfactor*speed;
00036     _Steps_Done = 0;
00037 
00038     for(int x =0 ; x <= Steps; x++)
00039     {
00040         if(_Pause_Code == 0)
00041         {
00042             if(Direction == 0)
00043             {
00044                 this->pin1 = 0;
00045                 this->pin2 = 1;
00046                 this->pin3 = 0;
00047                 this->pin4 = 1;
00048                 Thread::wait(loop_wait_time);
00049                 this->pin1 = 0;
00050                 this->pin2 = 1;
00051                 this->pin3 = 1;
00052                 this->pin4 = 0; 
00053                 Thread::wait(loop_wait_time);
00054                 this->pin1 = 1;
00055                 this->pin2 = 0;
00056                 this->pin3 = 1;
00057                 this->pin4 = 0;
00058                 Thread::wait(loop_wait_time);
00059                 this->pin1 = 1;
00060                 this->pin2 = 0;
00061                 this->pin3 = 0;
00062                 this->pin4 = 1;
00063             }
00064             else if (Direction == 1)   
00065             {   
00066                 this->pin1 = 1;
00067                 this->pin2 = 0;
00068                 this->pin3 = 0;
00069                 this->pin4 = 1;
00070                 Thread::wait(loop_wait_time);
00071                 this->pin1 = 1;
00072                 this->pin2 = 0;
00073                 this->pin3 = 1;
00074                 this->pin4 = 0;
00075                 Thread::wait(loop_wait_time);
00076                 this->pin1 = 0;
00077                 this->pin2 = 1;
00078                 this->pin3 = 1;
00079                 this->pin4 = 0;
00080                 Thread::wait(loop_wait_time); 
00081                 this->pin1 = 0;
00082                 this->pin2 = 1;
00083                 this->pin3 = 0;
00084                 this->pin4 = 1;     
00085             }  
00086             Thread::wait(loop_wait_time);  
00087             _Steps_Done = _Steps_Done +1;
00088         }
00089         else if (_Pause_Code == 1)
00090         {
00091             printf("Stepper motor code paused\n");
00092             while(_Pause_Code == 1)
00093             {
00094                 Thread::wait(1);
00095             }
00096         }
00097     }//End of for loop
00098     this->pin1 = 0;
00099     this->pin2 = 0;
00100     this->pin3 = 0;
00101     this->pin4 = 0;
00102 }
00103 void STEPPER_MOTOR::Permanent_Rotate_clock_wise()
00104 {
00105     switch(_step){ 
00106        case 0:
00107            pin1 = 0;
00108            pin2 = 0;
00109            pin3 = 0;
00110            pin4 = 1;
00111        break;  
00112        case 1:
00113            pin1 = 0;
00114            pin2 = 0;
00115            pin3 = 1;
00116            pin4 = 1; 
00117        break;  
00118        case 2: 
00119            pin1 = 0;
00120            pin2 = 0;
00121            pin3 = 1;
00122            pin4 = 0;
00123        break;  
00124        case 3: 
00125            pin1 = 0;
00126            pin2 = 1;
00127            pin3 = 1;
00128            pin4 = 0;
00129        break;  
00130        case 4: 
00131            pin1 = 0;
00132            pin2 = 1;
00133            pin3 = 0;
00134            pin4 = 0; 
00135        break;  
00136        case 5: 
00137            pin1 = 1;
00138            pin2 = 1;
00139            pin3 = 0;
00140            pin4 = 0;
00141        break;  
00142          case 6: 
00143            pin1 = 1;
00144            pin2 = 0;
00145            pin3 = 0;
00146            pin4 = 0;
00147        break;  
00148        case 7: 
00149            pin1 = 1;
00150            pin2 = 0;
00151            pin3 = 0;
00152            pin4 = 1;
00153        break;  
00154        default: 
00155            pin1 = 0;
00156            pin2 = 0;
00157            pin3 = 0;
00158            pin4 = 0;
00159        break;  
00160      } 
00161      if(_dir){ 
00162        _step++; 
00163      }else{ 
00164        _step--; 
00165      } 
00166      if(_step>7){ 
00167        _step=0; 
00168      } 
00169      if(_step<0){ 
00170        _step=7; 
00171      } 
00172 } 
00173 
00174 void STEPPER_MOTOR::Permanent_Rotate_anti_clock_wise()
00175 {
00176 
00177         //Rotate
00178     switch(_step){ 
00179        case 0:
00180            pin1 = 1;
00181            pin2 = 0;
00182            pin3 = 0;
00183            pin4 = 1;
00184        break;  
00185        case 1:
00186            pin1 = 1;
00187            pin2 = 0;
00188            pin3 = 0;
00189            pin4 = 0; 
00190        break;  
00191        case 2: 
00192            pin1 = 1;
00193            pin2 = 1;
00194            pin3 = 0;
00195            pin4 = 0;
00196        break;  
00197        case 3: 
00198            pin1 = 0;
00199            pin2 = 1;
00200            pin3 = 0;
00201            pin4 = 0;
00202        break;  
00203        case 4: 
00204            pin1 = 0;
00205            pin2 = 1;
00206            pin3 = 1;
00207            pin4 = 0; 
00208        break;  
00209        case 5: 
00210            pin1 = 0;
00211            pin2 = 0;
00212            pin3 = 1;
00213            pin4 = 0;
00214        break;  
00215          case 6: 
00216            pin1 = 0;
00217            pin2 = 0;
00218            pin3 = 1;
00219            pin4 = 1;
00220        break;  
00221        case 7: 
00222            pin1 = 0;
00223            pin2 = 0;
00224            pin3 = 0;
00225            pin4 = 1;
00226        break;  
00227        default: 
00228            pin1 = 0;
00229            pin2 = 0;
00230            pin3 = 0;
00231            pin4 = 0;
00232        break;  
00233      } 
00234      if(_dir){ 
00235        _step++; 
00236      }else{ 
00237        _step--; 
00238      } 
00239      if(_step>7){ 
00240        _step=0; 
00241      } 
00242      if(_step<0){ 
00243        _step=7; 
00244      } 
00245      //wait_ms(1); 
00246 } 
00247