Stepp.cpp

00001 #include "Stepp.h" 
00002  
00003 Stepp::Stepp(PinName clk, PinName dir, PinName en) : _clk(clk), _dir(dir), _en(en) {
00004     _clk = 0, _dir = 0, _en = 0;
00005    
00006         debug = new Debug();
00007         this->speed = 50;
00008         this->acell = true;
00009         //PinName pinOrigin;
00010 }
00011  
00012 int Stepp::step(int n_steps, bool direction) {
00013     
00014         int accelspeed;
00015     if(this->acell) accelspeed = START_STOP_SPEED;
00016     else accelspeed = this->speed;
00017     
00018     _en = 0; // habilita move
00019       _dir = direction;
00020     
00021         for(int i=0; (i< n_steps && EixoMonitoring::stopAll == false); i++){
00022             
00023         if(this->acell){//linear acceleration
00024           if(i < START_STOP_SPEED) if (--accelspeed == this->speed) accelspeed ++; 
00025           if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
00026         }  
00027        
00028         _clk = 1;
00029         wait_us(1);
00030         _clk = 0;
00031         wait_us(1);
00032         wait_us(accelspeed);
00033     }
00034      _en = 1;
00035 
00036     return 1;
00037 }
00038  
00039 bool Stepp::findLimits(int n_steps, bool direction, DigitalIn sensor) {
00040        
00041     int accelspeed = 0;
00042     if(this->acell) accelspeed = START_STOP_SPEED;
00043     else accelspeed = this->speed;
00044     
00045     int i = 0;
00046     _en   = 0; // habilita move   
00047     _dir  = direction;
00048     
00049       while(sensor.read() == 0 && EixoMonitoring::stopAll == false){ // n chegou na origem   
00050         
00051              if(this->acell){ //linear acceleration
00052                if(i < START_STOP_SPEED) if (--accelspeed == this->speed) accelspeed ++; 
00053                if(i > (n_steps-START_STOP_SPEED)) if(++accelspeed == START_STOP_SPEED) accelspeed--;
00054              }  
00055                
00056              _clk = 1;
00057              wait_us(1);
00058              _clk = 0;
00059              wait_us(1);
00060              wait_us(accelspeed);
00061                
00062               i++;
00063         }
00064         _en = 1; 
00065         
00066         
00067         if(sensor.read() == 0){
00068            return 0;
00069         }
00070         else{
00071            return 1;           
00072          } 
00073 } 
00074 
00075  
00076 float Stepp::version(void) { // version() returns the version number of the library
00077     return VERSION;    
00078 }