Diff: motor.cpp

Revision:

0:3b0e2caa6ad4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Mon May 12 16:01:59 2014 +0000
@@ -0,0 +1,62 @@
+#include "motor.h"
+#include "mbed.h"
+ 
+int brzinaMotora; // Steper speed
+ 
+motor::motor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
+    _A0=0; _A1=0; _A2=0; _A3=0;
+}
+ 
+void motor::postaviPinove(int vr) {
+        switch (vr) {
+            case 0: { _A0=0; _A1=0; _A2=0; _A3=1; }
+            break;
+            case 1: { _A0=0; _A1=0; _A2=1; _A3=1; }
+            break;
+            case 2: { _A0=0; _A1=0; _A2=1; _A3=0; }
+            break;
+            case 3: { _A0=0; _A1=1; _A2=1; _A3=0; }
+            break;
+            case 4: { _A0=0; _A1=1; _A2=0; _A3=0; }
+            break;
+            case 5: { _A0=1; _A1=1; _A2=0; _A3=0; }
+            break;
+            case 6: { _A0=1; _A1=0; _A2=0; _A3=0; }
+            break;
+            case 7: { _A0=1; _A1=0; _A2=0; _A3=1; }
+            break;
+        }
+        wait_us(brzinaMotora); // wait time defines the speed
+    }
+ 
+void motor::binarniBrojac(bool nazad) {
+    if (nazad)
+        for (int i = 7; i >= 0; i--)
+            postaviPinove(i);
+   
+    if (!nazad)
+        for (int i = 0; i <= 7; i++)
+            postaviPinove(i);
+}
+ 
+void motor::nazad() { // rotate the motor 1 step anticlockwise
+    binarniBrojac(true);
+}
+ 
+void motor::naprijed() { // rotate the motor 1 step clockwise
+    binarniBrojac(false);
+}
+void motor::korak(float broj_koraka, int smjer, int brzina) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
+    int count=0; // initalize step count
+    brzinaMotora=brzina; //set motor speed
+    if (smjer==0) // turn clockwise
+        do {
+            naprijed();
+            count++;
+        } while (count<broj_koraka); // turn number of steps applied
+    else if (smjer==1)// turn anticlockwise
+        do {
+            nazad();
+            count++;
+        } while (count<broj_koraka);// turn number of steps applied
+}
\ No newline at end of file