tim010 tim010 / Mbed 2 deprecated PAI_LV9_Grupa3_Tim010_Zadatak2

Armin, Kenan

Dependencies:   mbed

motor.cpp@0:3b0e2caa6ad4, 2014-05-12 (annotated)

Committer:
tim010
Date:
Mon May 12 16:01:59 2014 +0000
Revision:
0:3b0e2caa6ad4
PAI_LV9_Grupa3_Tim010

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tim010 0:3b0e2caa6ad4 1 #include "motor.h"
tim010 0:3b0e2caa6ad4 2 #include "mbed.h"
tim010 0:3b0e2caa6ad4 3
tim010 0:3b0e2caa6ad4 4 int brzinaMotora; // Steper speed
tim010 0:3b0e2caa6ad4 5
tim010 0:3b0e2caa6ad4 6 motor::motor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
tim010 0:3b0e2caa6ad4 7 _A0=0; _A1=0; _A2=0; _A3=0;
tim010 0:3b0e2caa6ad4 8 }
tim010 0:3b0e2caa6ad4 9
tim010 0:3b0e2caa6ad4 10 void motor::postaviPinove(int vr) {
tim010 0:3b0e2caa6ad4 11 switch (vr) {
tim010 0:3b0e2caa6ad4 12 case 0: { _A0=0; _A1=0; _A2=0; _A3=1; }
tim010 0:3b0e2caa6ad4 13 break;
tim010 0:3b0e2caa6ad4 14 case 1: { _A0=0; _A1=0; _A2=1; _A3=1; }
tim010 0:3b0e2caa6ad4 15 break;
tim010 0:3b0e2caa6ad4 16 case 2: { _A0=0; _A1=0; _A2=1; _A3=0; }
tim010 0:3b0e2caa6ad4 17 break;
tim010 0:3b0e2caa6ad4 18 case 3: { _A0=0; _A1=1; _A2=1; _A3=0; }
tim010 0:3b0e2caa6ad4 19 break;
tim010 0:3b0e2caa6ad4 20 case 4: { _A0=0; _A1=1; _A2=0; _A3=0; }
tim010 0:3b0e2caa6ad4 21 break;
tim010 0:3b0e2caa6ad4 22 case 5: { _A0=1; _A1=1; _A2=0; _A3=0; }
tim010 0:3b0e2caa6ad4 23 break;
tim010 0:3b0e2caa6ad4 24 case 6: { _A0=1; _A1=0; _A2=0; _A3=0; }
tim010 0:3b0e2caa6ad4 25 break;
tim010 0:3b0e2caa6ad4 26 case 7: { _A0=1; _A1=0; _A2=0; _A3=1; }
tim010 0:3b0e2caa6ad4 27 break;
tim010 0:3b0e2caa6ad4 28 }
tim010 0:3b0e2caa6ad4 29 wait_us(brzinaMotora); // wait time defines the speed
tim010 0:3b0e2caa6ad4 30 }
tim010 0:3b0e2caa6ad4 31
tim010 0:3b0e2caa6ad4 32 void motor::binarniBrojac(bool nazad) {
tim010 0:3b0e2caa6ad4 33 if (nazad)
tim010 0:3b0e2caa6ad4 34 for (int i = 7; i >= 0; i--)
tim010 0:3b0e2caa6ad4 35 postaviPinove(i);
tim010 0:3b0e2caa6ad4 36
tim010 0:3b0e2caa6ad4 37 if (!nazad)
tim010 0:3b0e2caa6ad4 38 for (int i = 0; i <= 7; i++)
tim010 0:3b0e2caa6ad4 39 postaviPinove(i);
tim010 0:3b0e2caa6ad4 40 }
tim010 0:3b0e2caa6ad4 41
tim010 0:3b0e2caa6ad4 42 void motor::nazad() { // rotate the motor 1 step anticlockwise
tim010 0:3b0e2caa6ad4 43 binarniBrojac(true);
tim010 0:3b0e2caa6ad4 44 }
tim010 0:3b0e2caa6ad4 45
tim010 0:3b0e2caa6ad4 46 void motor::naprijed() { // rotate the motor 1 step clockwise
tim010 0:3b0e2caa6ad4 47 binarniBrojac(false);
tim010 0:3b0e2caa6ad4 48 }
tim010 0:3b0e2caa6ad4 49 void motor::korak(float broj_koraka, int smjer, int brzina) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
tim010 0:3b0e2caa6ad4 50 int count=0; // initalize step count
tim010 0:3b0e2caa6ad4 51 brzinaMotora=brzina; //set motor speed
tim010 0:3b0e2caa6ad4 52 if (smjer==0) // turn clockwise
tim010 0:3b0e2caa6ad4 53 do {
tim010 0:3b0e2caa6ad4 54 naprijed();
tim010 0:3b0e2caa6ad4 55 count++;
tim010 0:3b0e2caa6ad4 56 } while (count<broj_koraka); // turn number of steps applied
tim010 0:3b0e2caa6ad4 57 else if (smjer==1)// turn anticlockwise
tim010 0:3b0e2caa6ad4 58 do {
tim010 0:3b0e2caa6ad4 59 nazad();
tim010 0:3b0e2caa6ad4 60 count++;
tim010 0:3b0e2caa6ad4 61 } while (count<broj_koraka);// turn number of steps applied
tim010 0:3b0e2caa6ad4 62 }