Vam GE
update
Diff: Stepper.h
- Revision:
- 1:a456aa3935ca
- Parent:
- 0:f2a3b0be279d
--- a/Stepper.h Mon Apr 15 11:29:15 2013 +0000
+++ b/Stepper.h Mon Sep 22 14:18:31 2014 +0000
@@ -34,9 +34,9 @@
* }
* @endcode
*/
-class Stepper
+class Stepper : public TimerEvent
{
-public:
+public:
/** Create Stepper instance connected to pin clk & dir
* @param clk pin to connect at clk/step output
* @param dir pin to connect at dir output
@@ -112,21 +112,24 @@
typedef enum {CW=1,CCW=0} direction;
protected:
- void run(void); //step generator thread
unsigned int nTo(float speed,float acc);
-
+
private:
- float _acc; //Acceleration [step/s²]
- float _dec; //Decceleration [step/s²]
- float _spd; //Speed [step/s]
- unsigned int _steps; //nbr total of steps per mov
- DigitalOut _clk; //output clock pin
- DigitalOut _dir; //output dir pin
- Timeout _timer; //step timer
+ float _acc; //Acceleration [step/s²]
+ float _dec; //Decceleration [step/s²]
+ float _spd; //Speed [step/s]
+ unsigned int _steps; //nbr total of steps per mov
+ DigitalOut _clk; //output clock pin
+ DigitalOut _dir; //output dir pin
enum {STOP,ACCEL,CRUISE,DECEL}_state; //Motor state
- unsigned int _dt0; //initial delay [µs]
- unsigned int _dtmin; //delay minimum [µs]
- int _pos; //motor position
+ unsigned int _dt0; //initial delay [µs]
+ unsigned int _dtmin; //delay minimum [µs]
+ unsigned int _dtn; //current delay
+ int _pos; //motor position
+ unsigned int _n; //steps counters
+ unsigned int _nStartDec; //steps to decelerate
+ virtual void handler();
+
};
#endif
\ No newline at end of file