Nikola Cvetković / Mbed 2 deprecated 19E042PIM_V5_Z2

19E042PIM Stepper motor 28BYJ-48

Dependencies:   mbed

main.cpp@0:ebdf9583ef95, 2022-01-04 (annotated)

Committer:
tzwell
Date:
Tue Jan 04 14:35:48 2022 +0000
Revision:
0:ebdf9583ef95
FIrst publish, first commit

Who changed what in which revision?

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tzwell 0:ebdf9583ef95 1 /*
tzwell 0:ebdf9583ef95 2 * An example of motor control, using step 28BYJ-48 motor and NUCLEO-L476RG.
tzwell 0:ebdf9583ef95 3 *
tzwell 0:ebdf9583ef95 4 * Katedra za Elektroniku i digitalne sisteme
tzwell 0:ebdf9583ef95 5 * Elektrotehnicki fakultet
tzwell 0:ebdf9583ef95 6 * Beograd
tzwell 0:ebdf9583ef95 7 *
tzwell 0:ebdf9583ef95 8 * Decembar 2021.
tzwell 0:ebdf9583ef95 9 *
tzwell 0:ebdf9583ef95 10 */
tzwell 0:ebdf9583ef95 11
tzwell 0:ebdf9583ef95 12 /*
tzwell 0:ebdf9583ef95 13 * Biblioteke za uvoz:
tzwell 0:ebdf9583ef95 14 */
tzwell 0:ebdf9583ef95 15 #include "mbed.h"
tzwell 0:ebdf9583ef95 16 #include "mb_pins.h"
tzwell 0:ebdf9583ef95 17
tzwell 0:ebdf9583ef95 18 /*
tzwell 0:ebdf9583ef95 19 * Definisanje makroa:
tzwell 0:ebdf9583ef95 20 */
tzwell 0:ebdf9583ef95 21 #define DEBOUNCE_DELAY_MS 50
tzwell 0:ebdf9583ef95 22 #define MOTOR_PERIOD_MS 5
tzwell 0:ebdf9583ef95 23
tzwell 0:ebdf9583ef95 24 /*
tzwell 0:ebdf9583ef95 25 * Globalne promenljive:
tzwell 0:ebdf9583ef95 26 */
tzwell 0:ebdf9583ef95 27 InterruptIn clkwise (MB_SW1);
tzwell 0:ebdf9583ef95 28 // D11 - D10 - D9 - D8
tzwell 0:ebdf9583ef95 29 // blue - pink - yellow - orange
tzwell 0:ebdf9583ef95 30 BusOut motor_out(PA_7, PB_6, PC_7, PA_9);
tzwell 0:ebdf9583ef95 31 int step = 0;
tzwell 0:ebdf9583ef95 32 int dir = 0; // direction
tzwell 0:ebdf9583ef95 33
tzwell 0:ebdf9583ef95 34 /*
tzwell 0:ebdf9583ef95 35 * Deklaracija funkcija:
tzwell 0:ebdf9583ef95 36 */
tzwell 0:ebdf9583ef95 37 void ISR_clkwise(void);
tzwell 0:ebdf9583ef95 38
tzwell 0:ebdf9583ef95 39
tzwell 0:ebdf9583ef95 40 /*
tzwell 0:ebdf9583ef95 41 * Glavna funkcija:
tzwell 0:ebdf9583ef95 42 */
tzwell 0:ebdf9583ef95 43 int main()
tzwell 0:ebdf9583ef95 44 {
tzwell 0:ebdf9583ef95 45 clkwise.fall(&ISR_clkwise);
tzwell 0:ebdf9583ef95 46 while(1)
tzwell 0:ebdf9583ef95 47 {
tzwell 0:ebdf9583ef95 48 switch(step)
tzwell 0:ebdf9583ef95 49 {
tzwell 0:ebdf9583ef95 50 // Half-step control:
tzwell 0:ebdf9583ef95 51 case 0: motor_out = 0x1; break; // 0001
tzwell 0:ebdf9583ef95 52 case 1: motor_out = 0x3; break; // 0011
tzwell 0:ebdf9583ef95 53 case 2: motor_out = 0x2; break; // 0010
tzwell 0:ebdf9583ef95 54 case 3: motor_out = 0x6; break; // 0110
tzwell 0:ebdf9583ef95 55 case 4: motor_out = 0x4; break; // 0100
tzwell 0:ebdf9583ef95 56 case 5: motor_out = 0xC; break; // 1100
tzwell 0:ebdf9583ef95 57 case 6: motor_out = 0x8; break; // 1000
tzwell 0:ebdf9583ef95 58 case 7: motor_out = 0x9; break; // 1001
tzwell 0:ebdf9583ef95 59
tzwell 0:ebdf9583ef95 60 default: motor_out = 0x0; break; // 0000
tzwell 0:ebdf9583ef95 61 }
tzwell 0:ebdf9583ef95 62
tzwell 0:ebdf9583ef95 63 if(dir) step++; else step--;
tzwell 0:ebdf9583ef95 64 if(step>7)step=0;
tzwell 0:ebdf9583ef95 65 if(step<0)step=7;
tzwell 0:ebdf9583ef95 66 wait_ms(MOTOR_PERIOD_MS); // speed
tzwell 0:ebdf9583ef95 67 }
tzwell 0:ebdf9583ef95 68 }
tzwell 0:ebdf9583ef95 69 /*
tzwell 0:ebdf9583ef95 70 * Definicija funkcija:
tzwell 0:ebdf9583ef95 71 */
tzwell 0:ebdf9583ef95 72 void ISR_clkwise(void){
tzwell 0:ebdf9583ef95 73 if(!clkwise.read())
tzwell 0:ebdf9583ef95 74 {
tzwell 0:ebdf9583ef95 75 wait_ms(DEBOUNCE_DELAY_MS);
tzwell 0:ebdf9583ef95 76 if (!clkwise.read()) dir = !dir;
tzwell 0:ebdf9583ef95 77 }
tzwell 0:ebdf9583ef95 78 }